https://github.com/robolaunch/isaacsim_launcher
This package for launch the Isaac Sim with ROS2 Humble
https://github.com/robolaunch/isaacsim_launcher
Last synced: 5 months ago
JSON representation
This package for launch the Isaac Sim with ROS2 Humble
- Host: GitHub
- URL: https://github.com/robolaunch/isaacsim_launcher
- Owner: robolaunch
- License: apache-2.0
- Created: 2024-11-04T15:41:46.000Z (over 1 year ago)
- Default Branch: main
- Last Pushed: 2024-11-27T19:03:34.000Z (over 1 year ago)
- Last Synced: 2024-11-27T20:19:34.364Z (over 1 year ago)
- Language: Python
- Size: 13.1 MB
- Stars: 1
- Watchers: 1
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
Isaac Simulation Launcher Package
This package tested under ROS2 Humble. Also, IsaacSim version is 4.1 and IsaacLab version is v1.1.0.
# Prequest
```
Ubuntu 22.04
ROS2 Humble
GitHub
NVIDIA Omniverse Launcher
Miniconda
```
## Setting
### Git
```
sudo apt-get update
sudo apt install git
```
### Pre-install Workspace
Clone Repository
```
git clone https://github.com/robolaunch/isaacsim_launcher.git --recurse-submodules
```
### Depencies & ROS2 Intallation
You can review the installros.sh file under isaacsim_launcher/isaacsim_ws directory. That shellscript prepared according to ROS2 Humble documentation.
```
sh /isaacsim_ws/installros.sh
```
### Update .bashrc
Add the following block at the end of .bashrc. You have to pay attention about the "isaacsim_launcherDirectory", it has to point the isaacsim_launcher directory. This following block just example.
```
isaacsim_launcherDirectory=/home/${USER}/isaacsim_launcher/
###################
### EXPORTS
export ROS_DOMAIN_ID=0
export FASTRTPS_DEFAULT_PROFILES_FILE=${isaacsim_launcherDirectory}/isaacsim_ws/fastdds.xml
export _colcon_cd_root=/opt/ros/humble/
export ISAACSIM_PATH="${HOME}/.local/share/ov/pkg/isaac-sim-4.1.0"
export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh"
### EXPORTS
###################
###################
### SOURCES
source /opt/ros/humble/setup.bash
source ${isaacsim_launcherDirectory}/isaacsim_ws/install/setup.bash
source /usr/share/colcon_cd/function/colcon_cd.sh
source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash
### SOURCES
###################
```
### Miniconda3
```
https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh (for x64)
sh @Downloads directory
accept eula, and no for init
conda config --set auto_activate_base false
```
Finally, add the following block at the end of .bashrc if only if doesn't exists!
```
# >>> conda initialize >>>
# !! Contents within this block are managed by 'conda init' !!
__conda_setup="$('${HOME}/miniconda3/bin/conda' 'shell.bash' 'hook' 2> /dev/null)"
if [ $? -eq 0 ]; then
eval "$__conda_setup"
else
if [ -f "${HOME}/miniconda3/etc/profile.d/conda.sh" ]; then
. "${HOME}/miniconda3/etc/profile.d/conda.sh"
else
export PATH="${HOME}/miniconda3/bin:$PATH"
fi
fi
unset __conda_setup
# <<< conda initialize <<<
```
### IsaacLab
```
cd ${isaacsim_launcherDirectory}/IsaacLab/
ln -s ${ISAACSIM_PATH} _isaac_sim
./isaaclab.sh --conda
conda activate isaaclab
pip install --upgrade pip
./isaaclab.sh --install
./isaaclab.sh --install rl_games
python source/standalone/tutorials/00_sim/create_empty.py (for verification)
```
# Workspace
1. Install Depencies
```
cd ${isaacsim_launcherDirectory}/isaacsim_ws/
rosdep install --from-paths src --ignore-src -r -y
```
2. Build
```
colcon build
```
## Running
1. Launch the Isaac Sim
```
Open the new terminal or execute "bash"
ros2 launch isaacsim run_isaacsim.launch.py
```