Running Isaac Sim with environment variables

When using a roscore on a different machine, I should do this according to the docs:
If communicating with another host (i.e real robot, an existing ROS stack, etc) please set the ROS_IP and ROS_MASTER_URI environment variables before starting isaac sim

How can I set those variables prior to running Isaac Sim? Currently I use Omniverse Launcher to run it.

I now use the isaac-sim.sh script to launch which enables me to set the env before launch. Is this the recommended procedure?

Hi Bruno,
Yes, you can indeed do it like that.
So, open a terminal, navigate to your Isaac SIM folder and set the environment variables as:

export ROS_MASTER_URI = ####
export ROS_IP = ###

Then launch manually Isaac SIM with:

./isaac-sim.sh
(or other alternatives if you are running headless for example)

Alternatively, you could set these through python: if you are using any of our python ROS samples or your own scripts with something like:

import os

os.environ[‘ROS_IP’] = YOUR_IP
print(os.getenv(‘ROS_IP’))

Lastely, if you are using docker containers you can pass it as an argument in the docker run command with --env ROS_IP=###

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