Fork Isaac Sim ROS & ROS2 Workspaces

This repository contains two workspaces: humble_ws (ROS2 Humble) and jazzy_ws (ROS2 Jazzy).

Click here for usage and installation instructions with Isaac Sim

When cloning this repository, both workspaces are downloaded. Depending on which ROS distro you are using, follow the setup instructions for building your specific workspace.

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Custom changes:

• We also enabled fastdds for ROS2 Bridge with Isaac Sim.
• We added a better Dockerfile for building the ROS2 workspace.

Workspaces

Humble Workspace

./run_docker.sh ros2_humble 

Jazzy Workspace

./run_docker.sh ros2_jazzy

IsaacSim Humble Workspace

./run_docker.sh isaacsim_humble

Embedded Commands and Features

Commands

• rid <number> : Change the ROS_DOMAIN_ID to the specified number.
• launch_isaacsim : Launch Isaac Sim with the ROS2 bridge enabled (only for isaacsim workspaces).

Features

• Adding ROS2 Packages: You can add ROS2 packages to src directory by adding the path to the run_docker.sh command. For example:

./run_docker.sh ros2_humble /path/to/your/ros2_package

Docker

Build the Docker image with the following command:

./build_docker.sh docker_workspace

Then run the Docker container with the following command:

./run_docker.sh docker_workspace

Docker workspace name are the name of the directory without the .docker