hijimasa / isaac_ros2_utils

This ROS 2 package provides various utilities (operation with ros2_control, automatic sensor generation and sensor data publishing) for easy use of Isaac Sim.

ROS 2 utilities for Isaac Sim

This repository provides utilities to use Isaac Sim like Gazebo classic.

Features

• This spawns URDF model at the desired timing and position.
• This provide ros2_control plugin to use ros2_controller, for example diff_drive_controller.
• This supports rotational and prismatic joints using position and velocity control.
• This sends joint status (position, velocity and effort) to ros2_control from Isaac Sim.
• This launches sensors from URDF description.
• This launchs sensors and controller at the desired timing.

System Requirements

Element	Minimum Spec
OS	Ubuntu 22.04
CPU	Intel Core i7 (7th Generation) AMD Ryzen 5
Cores	4
RAM	32GB
Storage	50GB SSD
GPU	GeForce RTX 2070
VRAM	8GB
ROS 2	Humble

How to Use

Please check this document.