This ROS 2 script launches all Isaac ROS packages to localize the robot and start mapping and rviz to visualize the husky on map. Then it will execute the launch file: ros2 launch husky_isaac_sim The first stage will update and build all required ROS 2 and Isaac ROS packages. The script run_in_docker.sh will execute some steps before running the Isaac ROS launch file. Now you can run this script on your second terminal: bash src/husky_isaac_sim/scripts/run_in_docker.sh Isaac Sim running with the warehouse environment loaded Terminal with a Docker container with Isaac ROS prompt waiting for a command Figure 7. Figure 7 shows Isaac Sim running and the environment fully loaded. When the build is complete, the terminal will be waiting for a new command (Figure 6). When your system is ready, you can clone the demo and try it on your workstation using the following script: git clone Īfter running it, use the following command to start Isaac Sim and open a new terminal with Docker built to use Isaac ROS and all packages needed for the demo. Remember to install the desktop versions. To run the Husky demo, you need a workstation with an NVIDIA RTX GPU and the latest versions of both NVIDIA Isaac Sim and ROS 2 Humble installed. Note: Do not start Isaac Sim when the download is complete. To see detailed instructions, visit Get Started With NVIDIA Omniverse. This section covers the setup requirements for each of these options.įor either option, first install the latest version of Isaac Sim. There are two ways to run this demo: directly from your workstation or using hardware-in-the-loop (HIL) configuration. Husky on the move and generating a 3D map Set up your demo When the robot is loaded, the main Isaac Sim script creates a graph to drive the robot, converting the velocity and steering commands into velocity for each wheel, and publishes the wheel status in a tf (Figure 1).įigure 5. It is used to visualize the robot in ROS visualization ( rviz) and load it into NVIDIA Isaac Sim. ![]() The Husky unified robotics description format (URDF) is dynamically loaded from a ROS 2 topic. Driving the Husky uses the latest version of Isaac ROS 2, which includes Isaac ROS packages for robot localization ( NVIDIA Isaac ROS VSLAM), map building ( NVIDIA Isaac ROS NvBlox), and Apriltag detection ( NVIDIA Isaac ROS AprilTag). This post explains how to use the official ROS 2 Husky packages to import the robot into NVIDIA Isaac Sim and create a simulation.įor this demo, the Husky robot is equipped with an NVIDIA Jetson Orin Nano and a ZED 2 camera mounted on top. ![]() It is simple to modify by adding other sensors and changing the high-level board. ![]() The Husky robot, developed by Clearpath Robotics, is a versatile four-wheeled platform made for indoor and outdoor research use.
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