https://github.com/hijimasa/isaac-ros2-control-sample

In Local

1. Pull the Isaac Sim Container

   docker pull nvcr.io/nvidia/isaac-sim:4.2.0
   

   Total Process to Install Docker and pull Isaac Sim Docker Image (https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/install_container.html)

2. Clone the repo to your ros2 workspace

   git clone <https://github.com/hijimasa/isaac-ros2-control-sample.git>
   

3. Get git submodules

   cd isaac-ros2-control-sample
   git submodule update --init --recursive
   

4. Build a docker image with shell script.

   cd ~/isaac-ros2-control-sample/docker
   ./build_docker_image.sh
   

5. Launch a docker container

   cd ~/isaac-ros2-control-sample/docker
   ./launch_docker.sh
   

   • Connection Result

In Docker

1. Build ros2 source codes

   colcon build && source install/setup.sh
   

For Mobile Robot

1. To launch simulator

   ros2 run isaac_ros2_scripts launcher
   

   <aside> <img src="/icons/report_red.svg" alt="/icons/report_red.svg" width="40px" />

   [Issue]

   Isaac Sim Python 4.2.0-rc.18+release.16044.3b2e… (로컬 gui 사용 불가)

   ---

   [Solution]

   In Local terminal

   xhost +local:root
   

   • Result </aside>

2. To spawn robot (another terminal 1)

   docker exec -it isaac-sim /bin/bash
   ros2 launch isaac_diffbot_sim diffbot_spawn.launch.py
   

   • Result

3. To launch teleop_twist_keyboard (another terminal 2)

   docker exec -it isaac-sim /bin/bash
   ros2 run teleop_twist_keyboard teleop_twist_keyboard
   

참고자료

https://informluke.tistory.com/entry/ROS2-명령어패키지-노드-토픽-서비스-액션