The repository is meant for leveraging system development and robot deployment for ground-based autonomous navigation and exploration on the NVIDIA Isaac-sim. Containing autonomous navigation modules such as collision avoidance, terrain traversability analysis, waypoint following, etc, and a set of visualization tools. This repository use the hospital environment and carter robot from the Isaac example files, see here for Isaac-sim environment installation and Nucleus server setup.
The repository has been tested in Ubuntu 20.04 with ROS Noetic. Install dependencies with command lines below.
sudo apt update
sudo apt install libusb-dev
Clone the open-source repository.
git clone https://github.com/JingtianYan/autonomous_exploration_development_environment_isaac_sim.git
In a terminal, go to the folder and compile.
cd autonomous_exploration_development_environment_isaac_sim
catkin_make
Source the ROS workspace and launch the system.
source devel/setup.sh
roslaunch isaac_simulator system_isaac.launch
This repository use Isaac-Sim environment for development (See hardware requirement here). Download and Install the NVIDIA Isaac-Sim simulator environment from the official guide. Also, our development enviroment depend on some example environment from the Nvidia. Thus, install and set up Nucleus server follow the instructions from offical guide.
Then, running the simulation and load the robot into the Isaac-Sim.
ISAAC_INSTALL_PATH/python.sh ./src/isaac_simulator/isaac_env/isaac_hospital_env.py
The "ISAAC_INSTALL_PATH" here is usually locate at "~/.local/share/ov/pkg/isaac_sim-2021.2.1".
The result is available here
For using TARE planner using this development environment. After running the simulator and Isaac-sim, please follow instructions here to run.
The result is available here
For using FAR planner using this development environment. After running the simulator and Isaac-sim, please follow instructions here to run.