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.

:clamp: Platforms

• ROS 2: Humble Hawksbill
• OS:
  • Ubuntu 22.04 Jammy Jellyfish
• Isaac Sim 4.2.0 (optional if not using Docker)

:inbox_tray: Installation

Clone this repository into the src folder of a ROS2 workspace

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

:inbox_tray: (Optional) Docker environment installation

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.

:package: Build

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

:rocket: Usage

Launch the simulation with the provided launchfile

ros2 launch andino_isaac andino_isaac.launch.py

Teleoperate the robot

ros2 run teleop_twist_keyboard teleop_twist_keyboard

andino_isaac.webm