https://github.com/gazebosim/gz-omni

Connnects Gazebo to Isaac Sim
https://github.com/gazebosim/gz-omni

gazebo gazebosim ignition-robotics isaac isaac-sim omniverse robot-simulator simulation

Last synced: 1 day ago
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Connnects Gazebo to Isaac Sim

• Host: GitHub
• URL: https://github.com/gazebosim/gz-omni
• Owner: gazebosim
• Created: 2021-12-02T08:57:46.000Z (about 3 years ago)
• Default Branch: main
• Last Pushed: 2024-10-02T17:50:42.000Z (4 months ago)
• Last Synced: 2025-01-29T12:07:19.479Z (8 days ago)
• Topics: gazebo, gazebosim, ignition-robotics, isaac, isaac-sim, omniverse, robot-simulator, simulation
• Language: C++
• Homepage: https://gazebosim.org/showcase
• Size: 69 MB
• Stars: 136
• Watchers: 13
• Forks: 14
• Open Issues: 10
• Metadata Files:
  • Readme: README.md
  • Changelog: CHANGELOG.md

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README

        
# ign-omni

![](./tutorials/hybrid_diagram.png)

**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](https://ignitionrobotics.org/docs/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](tutorials/01_compile.md)

  - [Quickstart](tutorials/02_quickstart.md)

  - [Mobile base simulation (turtlebot3) (Nav2)](tutorials/03_ROS_simulation.md)

  - [Articulated arm Isaac Sim -> Ignition (Moveit 2)](tutorials/04_articulated_arm_issacsim_to_ignition.md)

  - [Hybrid simulation (Nav2)](tutorials/05_hybrid_simulation.md)

## ROSCon 2022

[![](img/video_img.png)](https://vimeo.com/767140085)