[Omniverse Isaac Sim] Q&A - How to connect ROS2 & Isaac Sim
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- Опубликовано: 13 мар 2024
- In this video, I'm answering a question from two Omniverse Isaac Sim users regarding the creation of a node to publish joint states to a robot within Omniverse Isaac Sim.
I've created a basic C++ node to transmit a sinusoidal signal to the joints, coupled with an action graph to manage the subscription and publication of joint states seamlessly.
If you have any further inquiries, please don't hesitate to leave them in the comments or reach out to me via LinkedIn.
#nvidia #Isaacsim #omniverse #robotics #ros2
![[OMNIVERSE] NVIDIA Omniverse Isaac Sim Installation for Robotics Software Engineers](/img/1.gif)
hi, just now looking at this video, looking forward to be a part to all the people that will work with this infrastructure in the future
Thanks a lot for this demonstration.
Cai aqui de paraquedas hahaha. Estava pesquisando sobre mudar meu curso de engenharia da computação da UFBA para controle e automação e me especializar em robótica. Teria algumas dicas/conselhos?
Your picture covers the Property window. Makes it hard to see what you are doing
It was really helpful, I was able to simulate a Kinova Arm with a ROS2 node. I was wondering if you can simmulate your own robot using ROS2 nodes?
Thank you, Rodrigo. Yes, you can.
Thanks for the helpful tutorial! What VSCode extensions do you use for ROS2 completion?
same question here!
Hi there =D have you never tried to control the robot by effort command through using the ros bridge ?
I'm going to do it soon.
@@engcaiobarros I recently tried to send an effort, it didn't mentioned any errors, but the robot didn't moved at all. Is the effort command supported for Isaac SIM or not yet?
Hi, why do you give both position and velocity commands? Isn't one of these enough?
This was intended for demonstration purposes only. Typically, position and velocity control are handled separately.
@@engcaiobarros thank you appreciate the clarification
Can you share your system specs?
Or would my "RTX 4060 8GB graphics, 32 GB RAM, 1 TB NVME SSD, i7 gen 14 processor" system be able to run it.
More RAM, VRAM required?
I have an RTX 3060 GPU with 12 GB of VRAM and an i5 processor. While this setup works well for simulating smaller scenarios, it unfortunately limits my ability to handle larger and more complex simulations. However, it is sufficient for simulating the current scenario and the palletizing scenario I demonstrated in another video.
I have isaac sim on windows 11 and in a vmware vm i have ubuntu with ros2 humble installed and my robot in there. Is there a certain procedure to getting the link established through the ros2 bridge between isaac sim and the VM runnning ubuntu with ros2 installed? Like some configuration file or something else. or maybe configure the vm to use NAT or Bridge networking so it may see isaac sim?
I've never tried to do it.
Hello man. Can you send me full file please. Thank you
i get this error when starting isaac sim
2024-03-27 18:38:30 [30,589ms] [Error] [carb.cudainterop.plugin] CUDA error 100: cudaErrorNoDevice - no CUDA-capable device is detected)
2024-03-27 18:38:30 [30,589ms] [Error] [carb.cudainterop.plugin] Failed to query CUDA device count.
2024-03-27 18:38:30 [30,589ms] [Error] [omni.physx.plugin] CUDA deviceOrdinal is invalid
2024-03-27 18:38:30 [30,628ms] [Warning] [omni.hydra.rtx] HydraEngine rtx failed creating scene renderer.
2024-03-27 18:38:30 [30,629ms] [Warning] [omni.hydratexture.plugin] rtx::raytracing::RaycastQueryManager is not available
Hello! Check if your computer has the NVIDIA drivers installed through the command "nvidia-smi" in the terminal.