How to Use Simulation Launcher

Just as Gazebo Classic was able to launch the simulator from the ROS 2 launch file, this repository allows you to launch Isaac Sim using the simulation launcher.

Use from Command Line

The simulation launcher can be run with the following command.

ros2 run isaac_ros2_scripts launcher

This command loads the default environment with the ground plane.

Use from Launch File

The ROS 2 launch file can be used to load and launch any USD file. An example of a launch file is shown below.

import os

from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.substitutions import LaunchConfiguration

def generate_launch_description():
    core_stage_description_path = os.path.join(
        get_package_share_directory('stage_description'))

    core_stage_usd_path = os.path.join(stage_description_path,
                              'meshes', 'USD',
                              'stage.usd')

    isaac_launcher = Node(
        package="isaac_ros2_scripts",
        executable="launcher",
        parameters=[{'usd_path': str(core_stage_usd_path)}],
    )

    return LaunchDescription([
        isaac_launcher,
    ])

In the above example, the simulation launcher is launched by reading the file "stage_description/meshes/USD/stage.usd".