Omniverse ROS

Important

Applicable for Ubuntu 22.04 and ROS2 Humble and Isaac Sim 4.0.0

Documentations

• Isaac Labs

Installation Instruction

• Nvidia Issac Sim Compatibility

  • Omniverse Downloads
    • sudo chmod +x omniverse-launcher-linux.AppImage
    • sudo apt update && sudo apt install fuse
    • Double click
    • Disable IOMMU
      • sudo bash -c 'echo GRUB_CMDLINE_LINUX="amd_iommu=off" >> /etc/default/grub'
      • sudo update-grub
      • sudo reboot
  • Install
    • Cache
    • Nucleus
    • Issac Sim

• Launch Issac Sim

• Add to .bashrc

# Issac Sim ROS Variables
export ROS_DOMAIN_ID=0
export FASTRTPS_DEFAULT_PROFILES_FILE=/home/administrator/issac_sim/fastdds.xml
# export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp # Optional if required

• Add build

rosdep install -i --from-path src --rosdistro humble -y
colcon build --symlink-install
source install/setup.bash

• Run directly so that the file is sourced

bash ~/.local/share/ov/pkg/isaac-sim-4.0.0/isaac-sim.sh

• Go to Windows -> Extension Manager -> Enable ROS2 Bridge & ROS2 Robot Description URDF
• Go to Create -> Isaac -> Environment -> Grid Room

ROS2 - Importing Robot

• Go to Issac Utils -> Workflows -> URDF Importer
  • Add the robot
  • Ensure base_link is not checked as it is a mobile robot
  • Check the drive type, usually velocity for wheel based robots
  • Self-collision disable if URDF limits are correct
  • Select output directory
• Play Animation and then Stop

ROS2 - Robot Controller

• Click Issac Utils -> Common Omnigraph -> Articulation Position Controller and/or Articulation Velocity Controller
  • Press Add and select the robot
  • Click Ok
  • Right Click on the Graphs in the Stage and select option Open Graphs
• Click Play and in the graphs, one of them will be a controller graph change values to see if it is reflected on robot
• Add the following to the graphs
  • On Playback Tick node
  • Isaac Read Simulation Time node
  • ROS2 Publish Joint State node
    • Connect On On Playback Tick from Tick to Exec In
    • Connect On Isaac Read Simulation Time node from Simulation Time to Timestamp
  • ROS2 Subscribe Joint State node
    • Connect On On Playback Tick from Tick to Exec In
  • ROS2 Nodes
    • Connect Effort Command, Joint Names, Position Command, etc.
  • Click play and run ros2 launch h1_isaac_controller system.launch.py for incremental steps to move the robot