Open donghee opened 3 weeks ago
Omniverse Launch를 이용해서 Isaac Sim설치
issac ros 설치
주의: LD_LIBRARY_PATH에 $isaac_sim_package_path/exts/omni.isaac.ros2_bridge/bin 디렉토리 추가
source /opt/ros/humble/setup.sh
export isaac_sim_package_path=$HOME/.local/share/ov/pkg/isaac-sim-2023.1.1
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
# Can only be set once per terminal.
# Setting this command multiple times will append the internal library path again potentially leading to conflicts
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$isaac_sim_package_path/exts/omni.isaac.ros2_bridge/humble/lib:$isaac_sim_package_path/exts/omni.isaac.ros2_bridge/bin:
export FASTRTPS_DEFAULT_PROFILES_FILE=~/nvidia/IsaacSim-ros_workspaces/humble_ws/fastdds.xml
# Run Isaac Sim
$isaac_sim_package_path/isaac-sim.sh