Introduction
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.
- This sets stiffness, damping and friction from URDF description.
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 3070 |
| VRAM | 8GB |
| ROS 2 | Humble |
Please refer to Isaac Sim System Requirements.
Demo
This sample repository provides demonstlations for mobile robot and arm robot.
Please check following documents.
How to Use
Check this tutorial.
LICENSE
This repository is provided with MIT license. Please refer to this.