Simulation
In this page you will find information about running simulations with Workspaces.
Last updated
In this page you will find information about running simulations with Workspaces.
Last updated
Once you click on "Save & Start simulation" or "Open Workspace", the workspace starts to load. When a workspace is loading, a container is being instantiated. For this, sometimes new machines need to be started up on cloud service providers, that is why the loading process can sometimes take a while.
Once a cloud based workspace has loaded, the following page greets you. This has Foxglove (sensor data viewer top left), Gazebo viewer (top right) and a terminal tool set up in a default configuration. If you have chosen a local based workspace then you will have access to local versions of these tools.
In the workspace you have access to various Tools. These are: Code Editor, File Browser, Terminal, Foxglove and Gazebo. Note that the cloud based version of Gazebo is a viewer.
Code editor
The Code editor tool provides you with an interface with which you can edit your code files. This is a live editor in a sense, that if two users are inside the same workstation, they see the modifications that are made on a file inside the Code Editor live.
Foxglove
Foxglove is an observability platform for robotics developers. For more information, please see: Foxglove website.
Gazebo
Gazebo viewer serves the purpose of visualizing the simulation. Currently the full GUI interface of Gazebo is only available if you choose to run your workspace locally.
To launch the websocket process which connects a running gazebo world with the viewer, use the ros2 launch gzviewer_websocket gzviewer_websocket.launch command.
If you choose to upload your own Environment asset, make sure to set the -s --headless rendering options to its launch command when running on the cloud. Otherwise, the process will fail.
If the gazebo panel switches to grey, but you do not see the world, try refreshing the panel or moving the view (in the gazebo viewer's panel hold down left mouse button and move the cursor) to move the world into position.
Terminal
Terminal windows can be used as any normal terminal on your local workstation.
File Browser
The file browser allows you to browse files, upload or download them.
The File Browser also has a built-in editor:
The tools can be rearranged to fit the needs of the users. You can snap panels next to and/or above each other, and you can also resize them.
While working in the Workspace as well as before shutting it down, you have the possibility to save your results and any modifications you have made to your assets. You can save assets either with a new version or replace the already existing version in your project.
Place everything you want to save as results to the results directory here:
Then click on "Save" in the top right menu bar.
When wanting to close the workspace click on End. This will close the workspace and will stop its simulation credit usage.
