I installed Isaac Sim on my Linux ros2 Humble PC, but CUDA is causing problems. I can't see any image in Isaac. So I thought, why not use the whole thing in Gazebo and created a launch file for the controller. I can get everything to work, but in Gazebo the robot dog flies through the air and then glides very far over the ground plate. I can also display the spot in Rviz2, the legs move too, but there is an error in the IK calculation. I haven't found a solution for this yet.
Hi Robotic_Padawan! Thanks for watching my video! Are you talking about gazebo classic? I had the same problems with gazebo11 too. Maybe physical engine of gazebo is not good with such kind of problems. I recommend you to use gazebo-sim(harmonic).
@@robotmania8896 yes, I have just started migrating to jazzy. the urdf file from the spot is designed for hamonic. I will test it again soon. I am currently playing with moveit2 and bringing my robot arm back to life in jazzy. learning by doing
Hi Indramal Wansekara! Thanks for watching my video! Yes, Isaac sim is more demanding in the computational resources point of view then Gazebo. My computer specs are RTX2060, 500GB SSD and Intel core i9.
@ hi, thank you for information. And also thank you for videos. If it is possible, please do video about getting started with Isaac sim in AWS clouds instance.
Hi 박지연! Thanks for watching my video! I created the model of this robot using Fusion360. Other files I coded myself. They are not automatically generated.
Is this utilizing the features of ros2 controller? Or it's only publish the joint position to the subscriber in IsaacSim node and the function inside selected ros2_controller is omitted
Hi Towerboi! Thanks for watching my video! As you correctly pointed out, in this tutorial ROS2 controllers are not used. Articulation controller replaces ROS2 controllers in this case.
@@towerboi-zg3it I think you cannot utilize ros2 control inside IsaacSim, but you can subscribe to Joint States. Since joints will be moved by ROS2 control controller, it may be close to what you would like to achieve.
Thanks for this tutorial! Can the ROS2 subscriber element be used to subscribe to a point cloud (PointCloud2) and visualize it in the simulation? Thanks advance!
i have a problem. how to sovle it? ros2 launch robot_control robot_control.launch.py [INFO] [launch]: All log files can be found below /home/johnny/.ros/log/2025-01-16-18-30-01-034824-johnny-B760M-34506 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [joy_node-1]: process started with pid [34507] [INFO] [ramped_joypad.py-2]: process started with pid [34509] [INFO] [robot_controller_gazebo.py-3]: process started with pid [34511] [robot_controller_gazebo.py-3] Traceback (most recent call last): [robot_controller_gazebo.py-3] File "/home/johnny/quadruped_robot_ROS2/install/robot_control/lib/robot_control/robot_controller_gazebo.py", line 6, in [robot_controller_gazebo.py-3] from RobotController import RobotController [robot_controller_gazebo.py-3] File "/home/johnny/quadruped_robot_ROS2/install/robot_control/lib/robot_control/RobotController/RobotController.py", line 5, in [robot_controller_gazebo.py-3] from tf_transformations import euler_from_quaternion [robot_controller_gazebo.py-3] ModuleNotFoundError: No module named 'tf_transformations' [ERROR] [robot_controller_gazebo.py-3]: process has died [pid 34511, exit code 1, cmd '/home/johnny/quadruped_robot_ROS2/install/robot_control/lib/robot_control/robot_controller_gazebo.py --ros-args'].
![[Omniverse Isaac Sim] Q&A - How to connect ROS2 & Isaac Sim](/img/n.gif)
This tutorial is the only uptodate one. Many thanks!
Hi Brytsk Nguyen!
Since Issac sim is evolving fast, information quickly becomes obsolete, but I will try to be up to date!
thanks so much for making this video, Super helpful!!! Please make more videos with IsaacSim!!
hi?
Hi shanelsomething!
Thanks for watching my video!
Yes, I plan to make more videos with Isaac Sim.
Woo, this is so helpful! thanks sir
Hi 宝宝!
My pleasure!
I can't thank you enough.
Very helpful.
Hi Alireza Karami!
Thanks for watching my video!
I am glad that this video has helped you.
Thank you so much for this tutorial. Would you please make a video on setting up, IsaacROS on your computer and working with IsaacSim+IsaacROS?
Hi iamshakeelsindho!
Thank you for your suggestion! I will look into it and see what I can do.
@@robotmania8896 I just checked your IsaacLab video. You are doing much needed work than Nvidia itself. Huge respect.
Thank you
Nvidia create great products, but it seems they sometimes don’t have enough time to make detailed tutorials:)
Thank you,
I find you videos really helpful
Hi Newton Kariuki!
Thanks for watching my video!
It is my pleasure if my videos have helped you!
you are my savior
You are welcome!
Can you show how to setup in Isaac Lab to train the robot?
Hi Eric L!
Thanks for watching my video!
It may take me a while but I will make a video with Isaac Lab.
I installed Isaac Sim on my Linux ros2 Humble PC, but CUDA is causing problems. I can't see any image in Isaac.
So I thought, why not use the whole thing in Gazebo and created a launch file for the controller.
I can get everything to work, but in Gazebo the robot dog flies through the air and then glides very far over the ground plate.
I can also display the spot in Rviz2, the legs move too, but there is an error in the IK calculation.
I haven't found a solution for this yet.
Hi Robotic_Padawan!
Thanks for watching my video!
Are you talking about gazebo classic? I had the same problems with gazebo11 too. Maybe physical engine of gazebo is not good with such kind of problems. I recommend you to use gazebo-sim(harmonic).
@@robotmania8896 yes, I have just started migrating to jazzy. the urdf file from the spot is designed for hamonic. I will test it again soon. I am currently playing with moveit2 and bringing my robot arm back to life in jazzy. learning by doing
What is your Hardware specification? I saw that Isaac Sim required more hardware resources
Hi Indramal Wansekara!
Thanks for watching my video!
Yes, Isaac sim is more demanding in the computational resources point of view then Gazebo. My computer specs are RTX2060, 500GB SSD and Intel core i9.
@ hi, thank you for information. And also thank you for videos. If it is possible, please do video about getting started with Isaac sim in AWS clouds instance.
Hello, did the robot yaml and the joint, controller make fusion 360?
Hi 박지연!
Thanks for watching my video!
I created the model of this robot using Fusion360. Other files I coded myself. They are not automatically generated.
Is this utilizing the features of ros2 controller? Or it's only publish the joint position to the subscriber in IsaacSim node and the function inside selected ros2_controller is omitted
Hi Towerboi!
Thanks for watching my video!
As you correctly pointed out, in this tutorial ROS2 controllers are not used. Articulation controller replaces ROS2 controllers in this case.
Thank you for your reply! Do you know or have any idea for utilization of ros2 control inside the IsaacSim?
@@towerboi-zg3it I think you cannot utilize ros2 control inside IsaacSim, but you can subscribe to Joint States. Since joints will be moved by ROS2 control controller, it may be close to what you would like to achieve.
@@robotmania8896 Thank you for your answer!
Thanks for this tutorial! Can the ROS2 subscriber element be used to subscribe to a point cloud (PointCloud2) and visualize it in the simulation? Thanks advance!
Hi Marcellus Marcus!
Thanks for watching my video!
As far as I know, you cannot do that. You can visualize point cloud data in RVIZ.
Hi there, I found the file in google drive doesnt contain the install folder and the build folder. Do I need to install it myself?
never mind, its a colcon build
Hi Chenxi Tao!
Thanks for watching my video!
Yes, you are right.
Hi, great video
Could you please make a detailed tutorial for isaac lab?
Would be much appreciated!!
Hi danny hlebnikov!
Thanks for the suggestion! I will consider it.
How can we set imu to 200hz?
Hi Ahmet Ceyhun!
Thanks for watching my video!
Please refer to this post.
forums.developer.nvidia.com/t/can-i-set-imu-frequency-in-isaac-sim/226055
i have a problem. how to sovle it?
ros2 launch robot_control robot_control.launch.py
[INFO] [launch]: All log files can be found below /home/johnny/.ros/log/2025-01-16-18-30-01-034824-johnny-B760M-34506
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [joy_node-1]: process started with pid [34507]
[INFO] [ramped_joypad.py-2]: process started with pid [34509]
[INFO] [robot_controller_gazebo.py-3]: process started with pid [34511]
[robot_controller_gazebo.py-3] Traceback (most recent call last):
[robot_controller_gazebo.py-3] File "/home/johnny/quadruped_robot_ROS2/install/robot_control/lib/robot_control/robot_controller_gazebo.py", line 6, in
[robot_controller_gazebo.py-3] from RobotController import RobotController
[robot_controller_gazebo.py-3] File "/home/johnny/quadruped_robot_ROS2/install/robot_control/lib/robot_control/RobotController/RobotController.py", line 5, in
[robot_controller_gazebo.py-3] from tf_transformations import euler_from_quaternion
[robot_controller_gazebo.py-3] ModuleNotFoundError: No module named 'tf_transformations'
[ERROR] [robot_controller_gazebo.py-3]: process has died [pid 34511, exit code 1, cmd '/home/johnny/quadruped_robot_ROS2/install/robot_control/lib/robot_control/robot_controller_gazebo.py --ros-args'].
I solve it.
sudo apt-get install ros-humble-turtle-tf2-py ros-humble-tf2-tools ros-humble-tf-transformations
Hi 張鉞!
Thanks for watching my video!
I am glad that you have solved your problem!
I want to know some thorough details about the project, can you help me by providing your contact details or mail id
Hi ASHISH SHAJAN!
Thanks for watching my video!
Here is my e-mail: robotmania8867@yahoo.com