ROS Bridge application using onmiverse instead of unity

Hi,

For Isaac sdk 2020.2, there is a navigation example for communicate isaac sdk, unity and ros. It works pretty well. So is there going to have a application to use omniverse instead to unity? or I need to make own “ros_to_navigation_omniverse.app.json” similiar to “ros_to_navigation_unity3d.app.json”?

Thanks!

Hi dlan,

Great to hear you liked “ros_to_navigation_unity3d” app. At the time we created this application, omniverse was not available yet, but the same app should work with omniverse as well. We should change the misleading app name. Please replace the instructions for unity based simulator with the omniverse based simulator (https://docs.nvidia.com/isaac/isaac/doc/simulation/ovkit.html) and let us know how it goes.

Best,
Oguz

Hi Oguz,

I tried this sample and it worked pretty awesome.

So basically, I convert isaac map to ros map by https://docs.nvidia.com/isaac/isaac/packages/ros_bridge/doc/ros_bridge.html#converting-an-isaac-map-to-ros-map

for omniverse:

I added ROS_Camera, ROS_Lidar, ROS_PoseTree topics into World tree and setup relationships accordingly.

for sdk:

bazel run packages/ros_bridge/apps:ros_to_navigation_unity3d – --more apps/assets/maps/virtual_test_warehouse_1.json --config ros_navigation:packages/ros_bridge/maps/virtual_test_warehouse_1_map_transformation.config.json,ros_navigation:packages/ros_bridge/apps/ros_to_navigation_turtlebot3_waffle_pi.config.json

for ros:

TURTLEBOT3_MODEL=waffle_pi roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=/home/slam/isaac/sdk/omniverse/maps/virtual_test_warehouse_1.yaml

outputs:

I could get rgb/depth/lidar data in ros, but it seems the turtlebot pose/goal pose is not available/published? and the channels/settings in Sight is not same(missing?) as the one with Unity simulator.

Thank you!
Daniel

Hi Daniel,

Glad to hear the instructions at https://docs.nvidia.com/isaac/isaac/doc/simulation/ovkit.html worked for you. This means Isaac SDK and Isaac SIM can communicate well. You previously verified Isaac SDK and ROS can communicate as well. So, you do not need the following step:

for omniverse:
I added ROS_Camera, ROS_Lidar, ROS_PoseTree topics into World tree and setup relationships accordingly.

Carter already has REB_Lidar, which commnunicates with the Isaac SDK. When you run the ros_to_navigate application, Isaac SDK will forward lidar data to ROS.

As a side note, you are using Carter in simulation, but ROS thinks it’s a turtlebot.

Best,
Oguz