Awesome
Andino simulation in Nvidia Isaac
<img src=docs/andino_isaac.png width=700/>
This package provides a simulation environment for Andino in Nvidia's Isaac sim integrated with ROS 2 and powered by Nvidia Omniverse.
:clamp: Platforms
- ROS 2: Humble Hawksbill
- OS:
- Ubuntu 22.04 Jammy Jellyfish
- Isaac Sim 4.2.0 (optional if not using Docker)
:inbox_tray: Installation
Clone this repository into the src folder of a ROS2 workspace
git clone https://github.com/ekumenlabs/andino_isaac.git
:inbox_tray: (Optional) Docker environment installation
This is an optional step. If not using Docker go to the Build section.
- Configure and pull the Nvidia Isaac Sim Docker container, follow steps 1 to 6 of the Nvidia instructions.
- Build and run the Isaac/ROS 2 container:
./docker/run.sh
Note: If you need to re-build the image pass the --build flag to the above command.
:package: Build
The package contains some dependencies that must be installed in order to build it:
rosdep install --from-paths src -i -y
Then build the package and source the install workspace. To do so run the following commands:
colcon build
source install/setup.bash
:rocket: Usage
Launch the simulation with the provided launchfile
ros2 launch andino_isaac andino_isaac.launch.py
Teleoperate the robot
ros2 run teleop_twist_keyboard teleop_twist_keyboard