151 lines
3.2 KiB
Markdown
151 lines
3.2 KiB
Markdown
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# 仿真环境启动指南
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本文档说明如何单独启动 Isaac 仿真环境的各个组件。
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## 前置条件
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```bash
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# 先 source ROS2 环境
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source install/setup.bash
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```
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## 单独启动组件
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### 1. Isaac 仿真环境
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```bash
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# 带可视化界面
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python3 src/simulation/tools/launch_sim_stack.py --component isaac
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# headless 模式（无界面）
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python3 src/simulation/tools/launch_sim_stack.py --component isaac --headless
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```
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### 2. 仿真车端统一 Agent
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包含底盘、运控、传感器数据转发：
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```bash
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python3 src/simulation/tools/launch_sim_stack.py --component vehicle-agent
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```
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### 3. 外部位姿桥
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将 Isaac 真值转发给车端：
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```bash
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python3 src/simulation/tools/launch_sim_stack.py --component external-pose-bridge
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```
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### 4. 车间侧传感器 Ingest
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从车端轮询传感器数据：
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```bash
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python3 src/simulation/tools/launch_sim_stack.py --component sensor-ingest
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```
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### 5. 车间 Gateway
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ROS2 节点，对接底盘/运控：
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```bash
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python3 src/simulation/tools/launch_sim_stack.py --component gateway
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```
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## 启动完整仿真链路
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### 方式一：一键启动所有仿真组件（不含车间总控）
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```bash
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python3 src/simulation/tools/launch_sim_stack.py --component all
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```
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### 方式二：分步启动（推荐用于调试）
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终端 1 - 启动 Isaac：
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```bash
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python3 src/simulation/tools/launch_sim_stack.py --component isaac
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```
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终端 2 - 启动车端 Agent：
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```bash
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python3 src/simulation/tools/launch_sim_stack.py --component vehicle-agent
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```
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终端 3 - 启动外部位姿桥：
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```bash
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python3 src/simulation/tools/launch_sim_stack.py --component external-pose-bridge
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```
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终端 4 - 启动传感器 Ingest：
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```bash
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python3 src/simulation/tools/launch_sim_stack.py --component sensor-ingest
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```
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终端 5 - 启动车间 Gateway：
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```bash
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python3 src/simulation/tools/launch_sim_stack.py --component gateway
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```
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终端 6 - 启动车间总控：
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```bash
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ros2 launch win_ubuntu_bridge minimal_workshop_demo.launch.py \
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use_gateway:=true \
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chassis_host:=127.0.0.1 \
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control_host:=127.0.0.1 \
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sensor_registry:=demo_front_camera,demo_down_camera,demo_lidar_3d,demo_lidar_2d,demo_imu
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```
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## 验证仿真环境
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启动后检查 topic：
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```bash
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# 查看 Isaac 发布的传感器数据
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ros2 topic list | grep isaac
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# 检查各传感器数据频率
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ros2 topic hz /sensor/front_camera/image_raw
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ros2 topic hz /sensor/down_camera/image_raw
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ros2 topic hz /sensor/lidar_3d/pointcloud
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ros2 topic hz /sensor/lidar_2d/scan
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ros2 topic hz /sensor/imu/data
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# 检查外部位姿
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ros2 topic hz /isaac/external_localization/telemetry
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```
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## 执行端到端验收测试
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仿真环境启动后，执行验收：
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```bash
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python3 src/simulation/tools/smoke_test_workshop_orchestrator.py \
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--verbose-feedback \
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--no-publish-fake-external-telemetry
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```
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## 停止仿真环境
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按 `Ctrl+C` 停止各组件，或使用：
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```bash
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./stop_isaac_real_sim_stack.sh
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```
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## 快捷脚本
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也可以使用一键测试脚本（启动所有组件并执行验收）：
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```bash
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# 完整测试（启动 + 验收 + 停止）
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./run_isaac_real_sim_test.sh
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# 保持运行（不执行验收）
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./run_isaac_real_sim_test.sh --no-smoke --keep-running
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# headless 模式
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./run_isaac_real_sim_test.sh --headless
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```
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