https://github.com/hijimasa/isaac_ros2_utils
This ROS 2 package provides various utilities (operation with ros2_control, automatic sensor generation and sensor data publishing) for easy use of Isaac Sim.
https://github.com/hijimasa/isaac_ros2_utils
isaac-sim ros-humble ros2 ros2-control sensor-simulation
Last synced: 11 days ago
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This ROS 2 package provides various utilities (operation with ros2_control, automatic sensor generation and sensor data publishing) for easy use of Isaac Sim.
- Host: GitHub
- URL: https://github.com/hijimasa/isaac_ros2_utils
- Owner: hijimasa
- License: mit
- Created: 2024-02-24T12:03:36.000Z (over 2 years ago)
- Default Branch: main
- Last Pushed: 2026-01-18T21:53:48.000Z (6 months ago)
- Last Synced: 2026-01-19T07:10:36.949Z (6 months ago)
- Topics: isaac-sim, ros-humble, ros2, ros2-control, sensor-simulation
- Language: Python
- Homepage: https://hijimasa.github.io/isaac_ros2_utils/
- Size: 23.8 MB
- Stars: 18
- Watchers: 3
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# ROS 2 utilities for Isaac Sim
This repository provides utilities to use [Isaac Sim](https://developer.nvidia.com/isaac-sim) like [Gazebo classic](https://classic.gazebosim.org/).
## Features
- This spawns URDF model at the desired timing and position.
- This provide ros2_control plugin to use ros2_controller, for example diff_drive_controller.
- This supports rotational and prismatic 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 launchs sensors and controller at the desired timing.
- This sets stiffness, damping and friction from URDF description.
## System Requirements
| Element | Minimum Spec |
|----|--------------------|
| OS | Ubuntu 22.04 |
| CPU | Intel Core i7 (7th Generation)
AMD Ryzen 5 |
| Cores | 4 |
| RAM | 32GB |
| Storage | 50GB SSD |
| GPU | GeForce RTX 2070 |
| VRAM | 8GB |
| ROS 2 | Humble |
## How to Use
Please check [this document](https://hijimasa.github.io/isaac_ros2_utils/).