This package provides a simulation environment for Andino in Nvidia's Isaac sim integrated with ROS 2 and powered by Nvidia Omniverse.
- ROS 2: Humble Hawksbill
- OS:
- Ubuntu 22.04 Jammy Jellyfish
- Isaac Sim 2023.1.1
Clone this repository into the src folder of a ROS2 workspace
git clone https://github.com/ekumenlabs/andino_isaac.git
- Configure and pull the Nvidia Isaac Sim Docker container, follow steps 1 to 6 of the Nvidia instructions.
- Build the Isaac/ROS 2 container:
docker pull nvcr.io/nvidia/isaac-sim:2023.1.1
./docker/build.sh
- Run the container and continue with the ROS 2 build
./docker/run_isaac_docker.sh
The package contains some dependencies that must be installed in order to build it:
rosdep install --from-paths src -i -y
Then build the package and source the install workspace. To do so run the following commands:
colcon build
source install/setup.bashLaunch the simulation with the provided launchfile
ros2 launch andino_isaac andino_isaac.launch.py
ros2 run teleop_twist_keyboard teleop_twist_keyboard