Is there a way to run ROS 2 nodes locally in Ubuntu 22.04 and bridge it to Isaac Sim from Omniverse Streaming Client?
Where is Isaac running?
I’ve gotten it to work where i have a docker container running ROS2. Then I have the Isaac Sim in another container with the ROS2 bridge enabled. They can speak to each other when I put both --network=host and --ipc=host in my docker run command.
@pweids not a question for me at the moment, as I am resolving issues with running the isaac sim container. But, once it is resolved, I would like to have ROS1 bridge (simply ros bridge) enabled in Isaac Sim container, and have it speak to another docker container that is running ROS noetic.
hi @pweids ,
I am running isaac-sim container, and I have enabled ros1 bridge extension isaac.startup.ros_bridge_extension = "omni.isaac.ros_bridge" by updating /isaac-sim/apps/omni.isaac.sim.base.kit. I have another docker container that is running ROS 1 noetic. I can see both running containers. I have roscore started in ros container, and --network=host was set for running both containers, however, I cannot access or list ros topics under my isaac-sim container.