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Isaac Simulation Launcher Package

This package tested under ROS2 Humble. Also, IsaacSim version is 4.1 and IsaacLab version is v1.1.0.

Prequest

    Ubuntu 22.04
    ROS2 Humble
    GitHub
    NVIDIA Omniverse Launcher 
    Miniconda

Setting

Git

    sudo apt-get update
    sudo apt install git

Pre-install Workspace

Clone Repository

    git clone https://github.com/robolaunch/isaacsim_launcher.git --recurse-submodules

Depencies & ROS2 Intallation

You can review the installros.sh file under isaacsim_launcher/isaacsim_ws directory. That shellscript prepared according to ROS2 Humble documentation.

    sh <path the isaacsim_launcher directory>/isaacsim_ws/installros.sh

Update .bashrc

Add the following block at the end of .bashrc. You have to pay attention about the "isaacsim_launcherDirectory", it has to point the isaacsim_launcher directory. This following block just example.

	isaacsim_launcherDirectory=/home/${USER}/isaacsim_launcher/
	###################
	### EXPORTS
	export ROS_DOMAIN_ID=0
	export FASTRTPS_DEFAULT_PROFILES_FILE=${isaacsim_launcherDirectory}/isaacsim_ws/fastdds.xml
	export _colcon_cd_root=/opt/ros/humble/
	export ISAACSIM_PATH="${HOME}/.local/share/ov/pkg/isaac-sim-4.1.0"
	export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh"
	### EXPORTS
	###################
	###################
	### SOURCES
	source /opt/ros/humble/setup.bash
	source ${isaacsim_launcherDirectory}/isaacsim_ws/install/setup.bash
	source /usr/share/colcon_cd/function/colcon_cd.sh
	source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash
	### SOURCES
	###################

Miniconda3

    https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh (for x64)
    sh <Miniconda3-latest-Linux-x86_64>@Downloads directory
    accept eula, and no for init
    conda config --set auto_activate_base false

Finally, add the following block at the end of .bashrc if only if doesn't exists!

    # >>> conda initialize >>>
    # !! Contents within this block are managed by 'conda init' !!
    __conda_setup="$('${HOME}/miniconda3/bin/conda' 'shell.bash' 'hook' 2> /dev/null)"
    if [ $? -eq 0 ]; then
        eval "$__conda_setup"
    else
        if [ -f "${HOME}/miniconda3/etc/profile.d/conda.sh" ]; then
            . "${HOME}/miniconda3/etc/profile.d/conda.sh"
        else
            export PATH="${HOME}/miniconda3/bin:$PATH"
        fi
    fi
    unset __conda_setup
    # <<< conda initialize <<<

IsaacLab

    cd ${isaacsim_launcherDirectory}/IsaacLab/
    ln -s ${ISAACSIM_PATH} _isaac_sim
    ./isaaclab.sh --conda
    conda activate isaaclab
    pip install --upgrade pip
    ./isaaclab.sh --install
    ./isaaclab.sh --install rl_games
    python source/standalone/tutorials/00_sim/create_empty.py (for verification)

Workspace

  1. Install Depencies
    cd ${isaacsim_launcherDirectory}/isaacsim_ws/
    rosdep install --from-paths src --ignore-src -r -y
  1. Build
    colcon build

Running

  1. Launch the Isaac Sim
    Open the new terminal or execute "bash"
    ros2 launch isaacsim run_isaacsim.launch.py