The workflow for running the ROS/ROS2 Bridge on Isaac Sim has changed in our latest release of Isaac Sim 2023.1.0! Isaac Sim is now able to use your system level or custom ROS/ROS2 installation!
ROS/ROS2 Installed on the System
If you have (or planning to have) a system level ROS/ROS2 installation, please follow the installation guide to ensure you have all of the required packages installed first. If you are using the ROS2 bridge, make sure the
FASTRTPS_DEFAULT_PROFILES_FILE environment variable is also set, as shown in the instructions under “Enabling the ROS / ROS 2 Bridge Extension”.
Make sure to source your ROS environment in your terminal or put it in your bashrc file before running Isaac Sim.
ROS/ROS2 Not Installed on the System
If you don’t have a system level install, Isaac Sim now comes with its own set of minimal ROS2 libraries to fallback on. To uses these libraries you would need to run the following commands in a terminal before running Isaac Sim. Replace
<YOUR_PACKAGE_PATH> with the Package Path shown in the app selector (above “Open in File Browser” and “Open In Terminal” buttons).
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:<YOUR_PACKAGE_PATH>/exts/omni.isaac.ros2_bridge/humble/lib
Isaac Sim Team