Genesis-Embodied-AI
Add ROS API and Sensor Support in the Future?
Discussed in https://github.com/Genesis-Embodied-AI/Genesis/discussions/45
Originally posted by liuxiao916 December 19, 2024 Hello,
- Do you have any plans to support ROS API in the future? For example, I would like to place a camera on a robot and read its data via ROS topic.
- If a ROS API is not planned, that's fine—I can implement it myself. In that case, could you let me know if it’s possible to attach a fixed camera to the top of a quadruped robot and have it move with the robot?
- Are there any future plans to support sensors like LiDAR?
Thank you for your time and great work on Genesis!🥰🥰🥰
The long term (in a few months?) answer: yes, we plan to add everything as long as it's useful for robotics short term (in the coming week) wise, we don't have a dedicated engineer team yet (just a few phd students :P) and we cannot promise the order of implementing these...
We don't have an API for attaching camera yet, but as a workaround, you can get the robot pose and set the camera pose every step
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Thank you for your response! I’m excited to dive deeper into the framework over the next few days and look forward to contributing some code to the community in the future.
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The suggestion about camera pose is helpful.
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I do have one more question about scene importing. I noticed that currently, entities can only be added to the system using the Morph API. Could you please let me know how I might go about importing a scene? For example, a house with multiple rooms or a forested area. In the past, I’ve worked with Isaac Sim, which allows importing highly detailed scene from Unreal Engine. Does Genesis support such functionality?
Thanks again for your time!
The long term (in a few months?) answer: yes, we plan to add everything as long as it's useful for robotics short term (in the coming week) wise, we don't have a dedicated engineer team yet (just a few phd students :P) and we cannot promise the order of implementing these...
We don't have an API for attaching camera yet, but as a workaround, you can get the robot pose and set the camera pose every step
@zhouxian hi there, I'd be very interested in discussing some kind of ROS integration, or a collaboration in general. I'm the creator of ROSA from NASA/JPL and previously created a agentic plugin for IsaacSim.
Please reach out if there's interest on your end.
Hi @zhouxian the Genesis simulator looks incredible. I too would be interested to helping out in integrating ROS 2 with Genesis.
The long term (in a few months?) answer: yes, we plan to add everything as long as it's useful for robotics short term (in the coming week) wise, we don't have a dedicated engineer team yet (just a few phd students :P) and we cannot promise the order of implementing these... We don't have an API for attaching camera yet, but as a workaround, you can get the robot pose and set the camera pose every step
@zhouxian hi there, I'd be very interested in discussing some kind of ROS integration, or a collaboration in general. I'm the creator of ROSA from NASA/JPL and previously created a agentic plugin for IsaacSim.
Please reach out if there's interest on your end.
@RobRoyce, I'm also interested in integrating ROS. I've been working on a project based on your ROSA framework, and I’ve found a smooth way to integrate ROS in a Python system.
Would you be open to involving me in the development of this feature?
Hi @vincenzocivale is your work with ROSA also open source. Would be very interested to learn more specially if you have figured out a more streamlined approach to integrating ROSA in a python ROS 2 package
The long term (in a few months?) answer: yes, we plan to add everything as long as it's useful for robotics short term (in the coming week) wise, we don't have a dedicated engineer team yet (just a few phd students :P) and we cannot promise the order of implementing these...
We don't have an API for attaching camera yet, but as a workaround, you can get the robot pose and set the camera pose every step
@zhouxian hi there, I'd be very interested in discussing some kind of ROS integration, or a collaboration in general. I'm the creator of ROSA from NASA/JPL and previously created a agentic plugin for IsaacSim.
Please reach out if there's interest on your end.
@RobRoyce, I'm also interested in integrating ROS. I've been working on a project based on your ROSA framework, and I’ve found a smooth way to integrate ROS in a Python system.
Would you be open to involving me in the development of this feature?
Gladly. I'm hoping to hear back from the Genesis devs to see if they already have plans to do something like this, or what their integration strategy is.
Hi @vincenzocivale is your work with ROSA also open source. Would be very interested to learn more specially if you have figured out a more streamlined approach to integrating ROSA in a python ROS 2 package
What are your troubles with ROS2 and ROSA? Happy to help, shoot me a message or open a discussion on the ROSA repo!
Gladly. I'm hoping to hear back from the Genesis devs to see if they already have plans to do something like this, or what their integration strategy is.
Sure, thanks! Please keep me updated if possible
Hi @Mechazo11! My work with ROSA is still in its early stages, but as soon as it's ready, I'll publish it on GitHub. If it works as intended, it could address a couple of points on ROSA's roadmap, so I'd like to hear @RobRoyce's thoughts on it as well, if possible!
Hi @vincenzocivale is your work with ROSA also open source. Would be very interested to learn more specially if you have figured out a more streamlined approach to integrating ROSA in a python ROS 2 package
What are your troubles with ROS2 and ROSA? Happy to help, shoot me a message or open a discussion on the ROSA repo!
Will do Dr. @RobRoyce
Given all the pain of gazebo, if you added ros2 support this will should take off!
Is there a ROS2 Humble integration available? I'd like to publish data from the simulation in real-time and visualize it in RViz—would that be possible?
@ahmet-f-gumustas ROS is not officially supported yet. I found this repo, maybe you can check: https://github.com/team-re-boot/genesis_ros
Just something i have been working on,This is ros2 package built on top of genesis, supports several sensors (IMU,Lidar,rgb,rgbd,LaserScan), and works with ros2_control. Some of the genesis features like inverse-kinematics, forward-kinematics, path_planning are exposed as ros2 services. Can be pretty easily integrated without making any major changes to your ros2 workflow. Please report any issues you come across. Contributions welcome!! genesis_ros @RobRoyce @Kashu7100 @duburcqa @zhouxian
