This extension enables the ROS2 action server interfaces for controlling robots (particularly those used by MoveIt to talk to robot controllers: FollowJointTrajectory and GripperCommand) and enables services for agile prototyping of robotic applications in ROS2
Target applications: NVIDIA Omniverse Isaac Sim
Supported OS: Linux
Changelog: CHANGELOG.md
Table of Contents:
All prerequisites described in ROS & ROS2 Bridge must be fulfilled before running this extension. In addition, this extension requires the following extensions to be present in Isaac Sim:
Add the extension using the Extension Manager or by following the steps in Extension Search Paths
Git url (git+https) as extension search path
git+https://github.com/Toni-SM/semu.robotics.ros2_bridge.git?branch=main&dir=exts
To install the source code version use the following url
git+https://github.com/Toni-SM/semu.robotics.ros2_bridge.git?branch=main&dir=src
Compressed (.zip) file for import
Enable the extension using the Extension Manager or by following the steps in Extension Enabling/Disabling
Enabling the extension initializes a ROS node named /SemuRos2Bridge
(configurable in the extension.toml
file). This node will enable, when the simulation starts, the ROS topics, services and actions protocols according to the ROS prims (and their configurations) existing in the current stage
Disabling the extension shutdowns the ROS node and its respective active communication protocols
Note: The current implementation only implements position control (velocity or effort control is not yet supported) for the FollowJointTrajectory and GripperCommand actions
The following components are supported:
Attribute (ROS2 service): enables the ervices for getting and setting the attributes of a prim according to the service definitions described bellow
The ROS2 package add_on_msgs contains the definition of the messages (download and add it to a ROS2 workspace). A sample code of a python client application is also provided
Prim attributes are retrieved and modified as JSON (applied directly to the data, without keys). Arrays, vectors, matrixes and other numeric classes (pxr.Gf.Vec3f
, pxr.Gf.Matrix4d
, pxr.Gf.Quatf
, pxr.Vt.Vec2fArray
, etc.) are interpreted as a list of numbers (row first)
add_on_msgs.srv.GetPrims: Get all prim path under the specified path
string path # get prims at path
---
string[] paths # list of prim paths
string[] types # prim type names
bool success # indicate a successful execution of the service
string message # informational, e.g. for error messages
add_on_msgs.srv.GetPrimAttributes: Get prim attribute names and their types
string path # prim path
---
string[] names # list of attribute base names (name used to Get or Set an attribute)
string[] displays # list of attribute display names (name displayed in Property tab)
string[] types # list of attribute data types
bool success # indicate a successful execution of the service
string message # informational, e.g. for error messages
add_on_msgs.srv.GetPrimAttribute: Get prim attribute
string path # prim path
string attribute # attribute name
---
string value # attribute value (as JSON)
string type # attribute type
bool success # indicate a successful execution of the service
string message # informational, e.g. for error messages
add_on_msgs.srv.SetPrimAttribute: Set prim attribute
string path # prim path
string attribute # attribute name
string value # attribute value (as JSON)
---
bool success # indicate a successful execution of the service
string message # informational, e.g. for error messages
FollowJointTrajectory (ROS2 action): enables the actions for a robot to follow a given trajectory
To add a FollowJointTrajectory action go to the Create > Isaac > ROS Control menu and select Follow Joint Trajectory
Select, by clicking the Add Target(s) button under the articulationPrim
field, the root of the robot's articulation tree to control and edit the fields that define the namespace of the communication. The communication will take place in the namespace defined by the following fields:
controllerName + actionNamespace
GripperCommand (ROS2 action): enables the actions to control a gripper
To add a GripperCommand action go to the Create > Isaac > ROS Control menu and select Gripper Command
Select, by clicking the Add Target(s) button under the articulationPrim
field, the root of the robot's articulation tree to which the end-effector belongs and then add the joints (of the gripper) to control
Also, edit the fields that define the namespace of the communication. The communication will take place in the namespace defined by the following fields:
controllerName + actionNamespace
Note: The GripperCommand action definition doesn't specify which joints will be controlled. The value manage by this action will affect all the specified joints equally