pipe_issac

Isaac simulator for the Storm Runner Robot

Dependencies

• Ubuntu 22.04
• ROS2 Humble
• Isaac Simulator 4.5

Install

1. Install packages:

sudo apt install -y libeigen3-dev libyaml-cpp-dev libgtest-dev python3-osrf-pycommon python3-colcon-common-extensions ros-humble-joy

2. Clone this repo to the src folder of your colcon ws:

mkdir -p ~/colcon_ws/src
cd ~/colcon_ws/src
git clone ADD LINK HERE

3. Install python packages

pip3 install -r requirements.txt

4. Install ROS dependencies

sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -r -i -y

5. To build the ROS packages, in the colcon_ws, run

colcon build
source install/setup.bash

Usage

To launch the simulator:

# If downloaded Isaac sim, use default path: 
~/isaacsim/python.sh ~/colcon_ws/src/pipe_isaac/pipe_issac_sim/scripts/launch_sim.py

# Else, use path to Isaac sim installation
{ISSACSIM_PATH}/python.sh ~/colcon_ws/src/pipe_isaac/pipe_issac_sim/scripts/launch_sim.py 

NOTE: Add instructions on textures