SDF <-> USD connector

[ahcorde]

This issue is meant to track the progress of the connector between Ignition Gazebo and Issac Sim SDF which is currently a work in progress.

Ignition -> Issac Sim

• Lights https://github.com/ignitionrobotics/ign-omni/pull/10
• Sensor https://github.com/ignitionrobotics/ign-omni/pull/12
• Collision https://github.com/ignitionrobotics/ign-omni/pull/13
• Joints: https://github.com/ignitionrobotics/ign-omni/pull/14
• Instructions https://github.com/ignitionrobotics/ign-omni/pull/15

TODO

• Q/A and testing

Issac Sim -> Ignition

• Remove, add and move models https://github.com/ignitionrobotics/ign-omni/pull/16

TODO

• Joints
• Lights
• Sensors
• Visual

Additional context

• Threadsafe architecture https://github.com/ignitionrobotics/ign-omni/pull/7

[ahcorde]

Ignition -> Issac SIm

In the README.md you can find some instructions about how to reproduce the connector between Ignition -> Issac Sim

[ahcorde]

Hybrid simulation

In this PR https://github.com/ignitionrobotics/ign-omni/pull/17 I added some instructions to run a Hybrid simulation

This demo explains how to use the hybrid simulation. In particular will follow this steps:

• Launch a world containing a ROS 2-controlled robot.
• Enable hybrid simulation, sharing the workload between Ignition and Isaac Sim
  • Diffdrive control will happen in Ignition
  • Sensors reading (lidar and camera) will happen in Issac Sim
• Control the robot from ROS 2. In this particular case with nav2
• Visualize data from both simulators in RVIZ