isaac-ros2-control-sample

• ros2_control Demo
• LiDAR output Demo
• Camera output Demo
• Arm robot Demo

This repository shows how to control the robot from ros2_control to make Isaac Sim easier to use. Important packages are "topic_based_ros2_control" and "isaac_ros2_scripts". "topic_based_ros2_control" provide hardware_interface class and send the commands from ros2_control to "isaac_ros2_scripts". "isaac_ros2_scripts" is needed bacause Isaac Sim needs specific python environment. "isaac_ros2_scripts" has the python script to launch and control Isaac Sim.

The features of this repository are below:

• This shows how to control a robot on Isaac Sim with ros2_control.
• This provides a Dockerfile where Isaac Sim and ROS2 Humble can coexist.
• This currently supports prismatic and rotational joints using position and velocity control.
• This sends joint status (position, velocity and effort) to ros2_control from Isaac Sim.
• This launches sensors from URDF description.
• This spawns URDF model at the desired timing and position.
• This launchs sensors and controller at the desired timing.
• This sets stiffness, damping and friction from URDF description.

Prerequisite

1. Docker
2. Isaac Sim Docker Image (Tested using image based on nvcr.io/nvidia/isaac-sim:2022.2.1)
3. Nucleus Server (I installed with the Omniverse Laungher)

How to use

1. Install Docker and pull Isaac Sim Docker Image. refer to https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/install_container.html

2. Clone the repo to your ros2 workspace

   git clone https://github.com/hijimasa/isaac-ros2-control-sample.git

3. Get git submodules

   cd isaac-ros2-control-sample
   git submodule update --init --recursive

4. Build a docker image with shell script.

   cd docker
   ./build_docker_image.sh

5. Launch a docker container

   ./launch_docker.sh

6. Build ros2 source codes

   colcon build && source install/setup.sh

7. Launch the package

   7.1. For Mobile Robot

   • To launch simulator

     ros2 run isaac_ros2_scripts launcher

   • To spawn robot (another terminal)

     docker exec -it isaac-sim /bin/bash
     ros2 launch isaac_diffbot_sim diffbot_spawn.launch.py

   • To launch teleop_twist_keyboard (another terminal)

     docker exec -it isaac-sim /bin/bash
     ros2 run teleop_twist_keyboard teleop_twist_keyboard

     7.2. For Arm Robot

   • To launch simulator

     ros2 run isaac_ros2_scripts launcher

   • To spawn robot (another terminal)

     docker exec -it isaac-sim /bin/bash
     ros2 launch franka_moveit_config demo.launch.py 

[!NOTE] For the first time, launching Isaac Sim takes a very long time. Isaac Sim must be fully launched to spawn the robot.

Next

You can make URDF for Isaac Sim with this documentation.

Bug

• LaserScan topic do not published when 2D Lidar config file is used.
• You should uncheck "Normarize Image" in your depth topic in RViz2 if you get black depth image.