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移動ロボット向けデモ

  1. Install Docker and pull Isaac Sim Docker Image.

  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. 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.