Newton Sim ROS Startup

Overview

Bring up a Newton-based sim run (publishes /clock + /mole/state + perception topics) plus the minimal Mole ROS stack for visualization and mapping.

Everything runs inside the same moleworks_ros:latest container.

Workflow

0) Preflight

1. Find the running container:

docker ps --format 'table {{.Names}}\t{{.Image}}\t{{.Status}}'

2. Pick a ROS_DOMAIN_ID (example 24) and keep it consistent.

3. If you want Newton GUI, ensure X11 is available:

docker exec <container> bash -lc 'echo DISPLAY=$DISPLAY'

1) Launch/Attach The Container

Recommended workflow uses the Mole docker scripts (host side):

cd /home/lorenzo/moleworks/ros2_ws/src/moleworks_ros/docker
./docker_launch.sh moleworks_ros:latest mole.Dockerfile \
  --name moleworks-ros-newton \
  --detach
./docker_attach.sh --name moleworks-ros-newton --user lorenzo
tmux a -t newton_sim

If your local moleworks_ros:latest image predates the Newton merge into mole.Dockerfile, rebuild once with:

./docker_launch.sh moleworks_ros:latest mole.Dockerfile --no-cache --name moleworks-ros-newton --detach

If you need to restart from scratch:

docker rm -f moleworks-ros-newton || true

2) Create tmux Session (Inside The Container)

Create a persistent tmux session with 4 windows: newton, robot, perception, foxglove.

docker exec -u lorenzo moleworks-ros-newton bash -lc '
  tmux kill-session -t newton_sim 2>/dev/null || true
  tmux new-session -d -s newton_sim -n newton
  tmux new-window -t newton_sim -n robot
  tmux new-window -t newton_sim -n perception
  tmux new-window -t newton_sim -n foxglove
  tmux list-windows -t newton_sim
'

3) Start Newton Bridge (Window: newton)

Run the Newton ROS bridge via launch (sim time must be true):

docker exec -u lorenzo moleworks-ros-newton bash -lc '
  tmux send-keys -t newton_sim:newton "source /opt/ros/jazzy/setup.bash; source /workspace/moleworks/ros2_ws/install/setup.bash; ros2 launch mole_bringup newton_bridge.launch.py use_sim_time:=true gui:=true task:=m445_excavation_w_cabin_analytic publish_tf:=false" C-m
'

Notes:

• Keep publish_tf:=false when also running robot.launch.py (avoid TF conflicts).

4) Start Robot + TF + RViz (Window: robot)

Robot window is minimal: TF + robot_state_publisher + RViz (no perception).

docker exec -u lorenzo moleworks-ros-newton bash -lc '
  tmux send-keys -t newton_sim:robot "source /opt/ros/jazzy/setup.bash; source /workspace/moleworks/ros2_ws/install/setup.bash; ros2 launch mole_bringup robot.launch.py use_sim_time:=true on_machine:=false launch_low_level:=false launch_perception:=false launch_rviz:=true launch_foxglove:=false elevation_map_frame_mode:=map" C-m
'

5) Start Perception + Mapping (Window: perception)

Start elevation mapping + excavation mapping (global/map mode):

docker exec -u lorenzo moleworks-ros-newton bash -lc '
  tmux send-keys -t newton_sim:perception "source /opt/ros/jazzy/setup.bash; source /workspace/moleworks/ros2_ws/install/setup.bash; ros2 launch mole_perception_bringup bringup.launch.py use_sim_time:=true enable_camera:=false enable_lidar:=false enable_elevation_mapping:=true enable_robot_self_filter:=true enable_excavation_mapping:=true map_name:=excavation_site use_local_mapping:=false elevation_map_frame_mode:=map" C-m
'

6) Start Foxglove Bridge (Window: foxglove)

docker exec -u lorenzo moleworks-ros-newton bash -lc '
  tmux send-keys -t newton_sim:foxglove "source /opt/ros/jazzy/setup.bash; source /workspace/moleworks/ros2_ws/install/setup.bash; ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765 use_sim_time:=true" C-m
'

7) Sanity Checks

Run with long timeouts (TF buffer needs time to warm up):

docker exec -u lorenzo moleworks-ros-newton bash -lc '
  timeout 15 bash -lc "source /opt/ros/jazzy/setup.bash; source /workspace/moleworks/ros2_ws/install/setup.bash; ros2 topic echo /clock --once 2>&1" | head -20
  timeout 15 bash -lc "source /opt/ros/jazzy/setup.bash; source /workspace/moleworks/ros2_ws/install/setup.bash; ros2 topic echo /mole/state --once 2>&1" | head -20
  timeout 15 bash -lc "source /opt/ros/jazzy/setup.bash; source /workspace/moleworks/ros2_ws/install/setup.bash; ros2 run tf2_ros tf2_echo map BASE 2>&1" | head -20
  timeout 15 bash -lc "source /opt/ros/jazzy/setup.bash; source /workspace/moleworks/ros2_ws/install/setup.bash; ros2 run tf2_ros tf2_echo odom BASE 2>&1" | head -20
'

8) If Something Is Missing

If colcon build complains about duplicate packages, always add --base-paths src.

If newton_bridge.launch.py is not found:

docker exec -u lorenzo moleworks-ros-newton bash -lc '
  source /opt/ros/jazzy/setup.bash
  cd /workspace/moleworks/ros2_ws
  colcon build --base-paths src --packages-select mole_bringup --symlink-install
'

If mole_bringup build fails due to missing mole_sam3_segmentation in the install (due to perception exec_dep chain), build it first:

docker exec -u lorenzo moleworks-ros-newton bash -lc '
  source /opt/ros/jazzy/setup.bash
  cd /workspace/moleworks/ros2_ws
  colcon build --base-paths src --packages-select mole_sam3_segmentation --symlink-install
'

If elevation mapping logs a shape/broadcast error when loading the excavation_site map, ensure you are running the updated mole_perception_bringup from ros2_ws (it selects a large-map core param file for that map name).