isaac-ros2-control-sample

• ros2_control Demo
• LiDAR output Demo
• Camera output Demo
• Arm robot Demo

This repository shows how to control the robot from ros2_control to make Isaac Sim easier to use. Important packages are "topic_based_ros2_control" and "isaac_ros2_scripts". "topic_based_ros2_control" provide hardware_interface class and send the commands from ros2_control to "isaac_ros2_scripts". "isaac_ros2_scripts" is needed bacause Isaac Sim needs specific python environment. "isaac_ros2_scripts" has the python script to launch and control Isaac Sim.

The features of this repository are below:

• This shows how to control a robot on Isaac Sim with ros2_control.
• This provides a Dockerfile where Isaac Sim and ROS 2 Jazzy can coexist.
• This currently supports prismatic and rotational joints using position and velocity control.
• This sends joint status (position, velocity and effort) to ros2_control from Isaac Sim.
• This launches sensors from URDF description.
• This spawns URDF model at the desired timing and position.
• This launchs sensors and controller at the desired timing.
• This sets stiffness, damping and friction from URDF description.

Supported Versions

Branch / Tag	Isaac Sim	ROS 2
main	6.0.1	Jazzy

For Isaac Sim 5.x, use the commit tagged before the Isaac Sim 6 migration (d03e96e and earlier).

Prerequisite

1. Docker
2. Isaac Sim Docker Image (Tested using image based on nvcr.io/nvidia/isaac-sim:6.0.1)
3. NVIDIA Driver 575 or later

Important

Isaac Sim 6 is built with CUDA 12.9. With older host drivers (e.g. 555), most features appear to work but the RTX LiDAR silently publishes no data (CUDA Driver CALL FAILED ... the provided PTX was compiled with an unsupported toolchain. appears in the log). Upgrade the host driver to 575 or later.

How to use

1. Install Docker and pull Isaac Sim Docker Image. refer to https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/install_container.html

2. Clone the repo to your ros2 workspace

   git clone https://github.com/hijimasa/isaac-ros2-control-sample.git

3. Get git submodules

   cd isaac-ros2-control-sample
   git submodule update --init --recursive

4. Build a docker image with shell script.

   cd docker
   ./build_docker_image.sh

5. Launch a docker container

   ./launch_docker.sh

6. Build ros2 source codes

   colcon build && source install/setup.sh

7. Launch the package

   7.1. For Mobile Robot

   • To launch simulator

   ros2 run isaac_ros2_scripts launcher

   • To spawn robot (another terminal)

   docker exec -it isaac-sim /bin/bash
   ros2 launch isaac_diffbot_sim diffbot_spawn.launch.py

   • To launch teleop_twist_keyboard (another terminal)

   docker exec -it isaac-sim /bin/bash
   ros2 run teleop_twist_keyboard teleop_twist_keyboard

   7.2. For Arm Robot

   • To launch simulator

   ros2 run isaac_ros2_scripts launcher

   • To spawn robot (another terminal)

   docker exec -it isaac-sim /bin/bash
   ros2 launch franka_moveit_config demo.launch.py 

Note

For the first time, launching Isaac Sim takes a very long time. Isaac Sim must be fully launched to spawn the robot.

Next

You can make URDF for Isaac Sim with this documentation.

Migration notes for Isaac Sim 6

• JSON LiDAR profiles (lidar_configs/*.json) were removed from Isaac Sim. LiDARs are now USD sensor assets resolved by name. Set the <config> tag in your URDF to one of the supported names (e.g. Example_Rotary, Example_Rotary_2D, SICK_TIM781, RPLIDAR_S2E, OS1, HESAI_XT32_SD10). Unsupported names (including the old Hokuyo configs) automatically fall back to Example_Rotary_2D / Example_Rotary with a warning listing all supported names.
• The URDF importer was rewritten in Isaac Sim 6. Spawned robots now place links under /<robot>/Geometry/ and joints under /<robot>/Physics/, so topic names derived from prim paths change accordingly (e.g. /diffbot/Geometry/base_link/lidar_link/scan).

Bug

• LaserScan topic do not published when 2D Lidar config file is used.
• You should uncheck "Normarize Image" in your depth topic in RViz2 if you get black depth image.