isaac lab5.0与ROS2通信

问题：isaac lab 5.0是基于python3.11 ros2是基于python3.10，因此不能在isaac sim的代码中直接写ros2的代码

在isaac sim中加

import socket def send_to_ros2(v, w): try: sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) sock.connect(('127.0.0.1', 9090)) msg = f"{v},{w}" sock.send(msg.encode('utf-8')) sock.close() except Exception as e: print("ROS2 Bridge 未连接，忽略发送")

再写一个桥接节点

#!/usr/bin/env python3 import rclpy from rclpy.node import Node from geometry_msgs.msg import Twist import socket import threading class ROS2Bridge(Node): def __init__(self): super().__init__('bridge_node') self.pub = self.create_publisher(Twist, '/cmd_vel', 10) def publish(self, v, w): msg = Twist() msg.linear.x = v msg.angular.z = w self.pub.publish(msg) def socket_server(node): server_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) server_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) server_socket.bind(('127.0.0.1', 9090)) server_socket.listen(1) while True: conn, addr = server_socket.accept() data = conn.recv(1024).decode() if data: v, w = map(float, data.split(',')) node.publish(v, w) conn.close() if __name__ == '__main__': rclpy.init() bridge_node = ROS2Bridge() # 开启线程处理网络通信 threading.Thread(target=socket_server, args=(bridge_node,), daemon=True).start() # 保持 ROS2 节点运行 rclpy.spin(bridge_node) bridge_node.destroy_node() rclpy.shutdown()

然后两个东西就可以进行通信了