Sorry for the confusion.
The webinar was created before we switched from Unreal Engine 4 to Unity 3D. “./IsaacSimProject.sh CarterWarehouse_P …” command is for Unreal Engine 4 based simulator. If you would like to use Unreal Engine 4 (like the video does), then please use 2019.2 release. What the webinar is teaching (basics of Isaac SDK) is independent of simulator choice. So, it’s OK to learn Isaac SDK with that previous release. However, as discussed at https://devtalk.nvidia.com/default/topic/1068638/isaac-sim-for-manipulation/is-isaac-sim-no-longer-supporting-unreal-4-/, we no longer support Unreal Engine 4 based simulator and I would suggest trying the new simulator instead.
For Unity 3D based simulator, please follow instructions at https://docs.nvidia.com/isaac/isaac/doc/simulation/unity3d.html. After launching the medium_warehouse simulation, instead of
bob@desktop:~/isaac$ bazel run //apps/navsim:navsim_navigate -- --more packages/navsim/maps/medium_warehouse.json,packages/navsim/robots/carter.json
simply execute:
bazel run apps/tutorials/webinar_1:goal_generator_navsim -- --more packages/navsim/maps/medium_warehouse.json,packages/navsim/robots/carter.json
Note:
Sorry for the inconvenience, but to fix the app the following patch needs to be applied:
diff --git a/apps/tutorials/webinar_1/goal_generator_navsim.app.json b/apps/tutorials/webinar_1/goal_generator_navsim.app.json
index 6060131f8..87b9fe5d9 100644
--- a/apps/tutorials/webinar_1/goal_generator_navsim.app.json
+++ b/apps/tutorials/webinar_1/goal_generator_navsim.app.json
@@ -25,6 +25,19 @@
"type": "isaac::tutorials::GoalGenerator"
}
]
+ },
+ {
+ "name": "behavior_main",
+ "components": [
+ {
+ "name": "NodeGroup",
+ "type": "isaac::alice::behaviors::NodeGroup"
+ },
+ {
+ "name": "MemorySequenceBehavior",
+ "type": "isaac::alice::behaviors::MemorySequenceBehavior"
+ }
+ ]
}
],
"edges": [
@@ -37,11 +50,11 @@
"target": "navigation.subgraph/interface/goal"
},
{
- "source": "simulation.interface/output/flatscan",
+ "source": "simulation.interface/noisy/flatscan",
"target": "navigation.subgraph/interface/flatscan_for_localization"
},
{
- "source": "simulation.interface/output/flatscan",
+ "source": "simulation.interface/noisy/flatscan",
"target": "navigation.subgraph/interface/flatscan_for_obstacles"
},
{
@@ -63,17 +76,27 @@
]
},
"config": {
+ "behavior_main": {
+ "MemorySequenceBehavior": {
+ "tick_period": "10Hz"
+ },
+ "NodeGroup": {
+ "node_names": [
+ "simulation.scenario_manager",
+ "navigation.localization.localize"
+ ],
+ "tick_period": "10Hz"
+ }
+ },
+ "navigation.localization.localize": {
+ "disable_automatic_start": true
+ },
"goal_generator" : {
"GoalGenerator" : {
+ "desired_position": [26.0, 22.0],
"tick_period" : "10Hz"
}
},
- "simulation.scan_flattener.scan_accumulator": {
- "isaac.perception.ScanAccumulator": {
- "min_slice_count": 900,
- "clock_wise_rotation": false
- }
- },
"navigation.imu_odometry.odometry": {
"DifferentialBaseWheelImuOdometry": {
"use_imu": false
