Demo For Mobile Robot

The demo requires an NVIDIA GPU with driver 575 or later (Isaac Sim 6 is built with CUDA 12.9; with older drivers the LiDAR publishes no data).

1. Install Docker and pull Isaac Sim Docker Image (nvcr.io/nvidia/isaac-sim:6.0.1).

2. Clone the repo to your ros2 workspace
   bash git clone https://github.com/hijimasa/isaac-ros2-control-sample.git

3. Get git submodules
   bash cd isaac-ros2-control-sample git submodule update --init --recursive

4. Build a docker image with shell script.
   bash cd docker ./build_docker_image.sh

5. Launch a docker container
   bash ./launch_docker.sh

6. Build ros2 source codes
   bash colcon build && source install/setup.bash

7. Launch simulator
   bash ros2 run isaac_ros2_scripts launcher

8. Spawn robot (another terminal)
   bash docker exec -it isaac-sim /bin/bash ros2 launch isaac_diffbot_sim diffbot_spawn.launch.py

9. Press the Play button (▶) in the Isaac Sim window to start the simulation.

10. Launch teleop_twist_keyboard (another terminal)
    bash docker exec -it isaac-sim /bin/bash ros2 run teleop_twist_keyboard teleop_twist_keyboard

[!NOTE] For the first time, launching Isaac Sim takes a very long time. Isaac Sim must be fully launched to spawn the robot.