Andino simulation in Nvidia Isaac

This package provides a simulation environment for Andino in Nvidia's Isaac sim integrated with ROS 2 and powered by Nvidia Omniverse.

🗜️ Platforms

Clone this repository into the src folder of a ROS2 workspace

git clone https://github.com/ekumenlabs/andino_isaac.git

This is an optional step. If not using Docker go to the Build section.

Configure and pull the Nvidia Isaac Sim Docker container, follow steps 1 to 6 of the Nvidia instructions.
Build and run the Isaac/ROS 2 container:

./docker/run.sh

Note: If you need to re-build the image pass the --build flag to the above command.

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.bash

Launch the simulation with the provided launchfile

ros2 launch andino_isaac andino_isaac.launch.py

ros2 run teleop_twist_keyboard teleop_twist_keyboard

andino_isaac.webm