ign-omni

NOTES:

• This repository is under development, you might find compilation errors, malfunctions or some undocumented features.
• This code will only run on Linux (for now).
• You should install Ignition Fortress (from source).

Requirements:

• ROS 2 Galactic.
• Ignition Gazebo Fortress
• ubuntu 20.04

Features:

• Ignition -> IsaacSim
  • Move/rotate models
  • Create/remove models
  • Joints
  • Sensors (lidar, cameras)
• IsaacSim -> Ignition
  • Create/remove models

Tutorials

• How to compile it
• Quickstart
• Mobile base simulation (turtlebot3) (Nav2)
• Articulated arm Isaac Sim -> Ignition (Moveit 2)
• Hybrid simulation (Nav2)

ROSCon 2022