{"id":30620227,"url":"https://github.com/benvonh/nexus","last_synced_at":"2025-08-30T13:09:23.657Z","repository":{"id":304359316,"uuid":"935089648","full_name":"benvonh/Nexus","owner":"benvonh","description":"A digital twin in Pixar's Univeral Scene Description to interact with over ROS","archived":false,"fork":false,"pushed_at":"2025-07-29T11:35:28.000Z","size":92974,"stargazers_count":0,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"master","last_synced_at":"2025-08-25T00:22:59.628Z","etag":null,"topics":["digital-twin","ros2","usd"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/benvonh.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":".github/FUNDING.yml","license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null},"funding":{"github":"benvonh","patreon":"benvonh","ko_fi":"benvonh","buy_me_a_coffee":"benjaminvo6"}},"created_at":"2025-02-18T22:14:15.000Z","updated_at":"2025-08-24T05:59:44.000Z","dependencies_parsed_at":"2025-07-26T13:35:06.499Z","dependency_job_id":null,"html_url":"https://github.com/benvonh/Nexus","commit_stats":null,"previous_names":["benvonh/digitaltwin","benvonh/nexus"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/benvonh/Nexus","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/benvonh%2FNexus","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/benvonh%2FNexus/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/benvonh%2FNexus/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/benvonh%2FNexus/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/benvonh","download_url":"https://codeload.github.com/benvonh/Nexus/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/benvonh%2FNexus/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":272852812,"owners_count":25004155,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-08-30T02:00:09.474Z","response_time":77,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["digital-twin","ros2","usd"],"created_at":"2025-08-30T13:09:21.137Z","updated_at":"2025-08-30T13:09:23.652Z","avatar_url":"https://github.com/benvonh.png","language":"C++","funding_links":["https://github.com/sponsors/benvonh","https://patreon.com/benvonh","https://ko-fi.com/benvonh","https://buymeacoffee.com/benjaminvo6"],"categories":[],"sub_categories":[],"readme":"# Nexus\n\nA simple Digital Twin application to interact with ROS and the Universal Scene Description.\n\n\u003c!-- https://github.com/user-attachments/assets/d0448d48-7468-44f2-b7b0-418af48c90fa --\u003e\n![test](./docs/media/test.gif)\n\n**NOTE**: As this is under development, only Windows is currently supported. However, Linux will receive similar support in the near future.\n\n## Installation\n\n### Dependency\n\n:warning: This may take up to an hour and ~50GB of storage!\n\n1. Install [Pixi](https://github.com/prefix-dev/pixi/releases/latest/download/pixi-x86_64-pc-windows-msvc.msi) - default\n\n2. Install [Visual Studio](https://visualstudio.microsoft.com/thank-you-downloading-visual-studio/?sku=Community\u0026channel=Release\u0026version=VS2022\u0026source=VSLandingPage\u0026cid=2030\u0026passive=false) - check \"Desktop development with C++\"\n\n3. Install the ROS2 (Kilted Kaiju) environment\n\n```ps\nmd C:\\pixi_ws\ncd C:\\pixi_ws\nirm https://raw.githubusercontent.com/ros2/ros2/refs/heads/kilted/pixi.toml -OutFile pixi.toml\npixi install\n```\n\n4. Download the ROS2 [zip](https://github.com/ros2/ros2/releases/download/release-kilted-20250523/ros2-kilted-20250523-windows-release-amd64.zip) and extract under `C:\\pixi_ws`\n\n5. Install OpenUSD from **Developer Command Prompt for VS 2022 Preview**\n\n    - For a less cluttered namespace, edit `pxr/pxr.h.in` and set `PXR_INTERNAL_NS` the same as `PXR_NS`.\n\n```ps\ncd C:\\pixi_ws\npixi shell\npip install pyopengl pyside6\ngit clone https://github.com/PixarAnimationStudios/OpenUSD.git\ncd OpenUSD\ngit checkout v25.02\npython build_scripts\\build_usd.py --build-variant release ..\\usd\n```\n\n6. Edit the environment variables so that `PATH` has `C:\\pixi_ws\\usd\\bin;C:\\pixi_ws\\usd\\lib` and `PYTHONPATH` has `C:\\pixi_ws\\usd\\lib\\python`\n\n7. Install final dependencies via `vcpkg` from the same shell\n\n```ps\ncd C:\\pixi_ws\ngit clone https://github.com/microsoft/vcpkg.git\ncall .\\vcpkg\\bootstrap-vcpkg.bat\nvcpkg install freetype\nvcpkg integrate install\n```\n\n### Verify Setup\n\n- ROS2\n\n```ps\ncall C:\\pixi_ws\\ros2-windows\\setup.bat\nros2 topic list\n```\n\n- OpenUSD\n\n```ps\ncd C:\\pixi_ws\npixi shell\nusdview usd\\share\\usd\\tutorials\\authoringProperties\\HelloWorld.usda\n```\n\n### Digital Twin\n\nClone this repository under `C:\\pixi_ws` then follow the usual steps for a CMake project.\nEnsure `--config` is consistent with what OpenUSD was built with.\n\n```ps\ncmake -S . -B build\ncmake --build build --target app --config Release -- /m\n.\\Release\\app.exe\n```\n\nScripts are also provided which can be called/executed from anywhere.\n\n## Notes\n\n1. To set up a proper development environment, enter the following in Command Prompt.\n\n```ps\ncd C:\\pixi_ws\npixi shell\ncall ros2-windows\\setup.bat\n\ndevenv     # Visual Studio\ncode Nexus # Visual Studio Code\n```\n\n2. Due to immense difficulty in configuring OpenUSD through CMake (Visual Studio multi-config), a single config must be specified. To change later, delete `C:\\pixi_ws\\usd` and build from scratch again. I'm not sure of the proper way to do this at the moment.\n\n3. Linking against OpenUSD as a static library on Windows does NOT currently work. The default is shared. See https://github.com/PixarAnimationStudios/OpenUSD/issues/3079.\n\n4. ROS2 does not provide packaged binaries for Debug on Windows; but building ROS2 yourself does not work for Debug anyway plus other CMake issues for a full build. It is recommended to build OpenUSD in Release mode with Debug Info instead.\n\n## Roadmap\n\n- Showcase with Franka Panda\n    - Even try running simple RL on it\n- Implement live editing of properties and prims\n- Switch to more advanced rendering like https://github.com/GPUOpen-LibrariesAndSDKs/RadeonProRenderUSD\n    - Also looked at Autodesks's Aurora\n    - Seems like nothing really works out the box so put on hold\n- Investigate how to do VR imaging\n    - Need to look at ALVR, OpenXR\n\n## Third Party Software\n\n- OpenUSD\n- ROS2\n- SDL3\n- Dear ImGui\n- Assimp\n- STB\n- Termcolor\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fbenvonh%2Fnexus","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fbenvonh%2Fnexus","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fbenvonh%2Fnexus/lists"}