ROS 2 utilities for Isaac Sim

This repository provides utilities to use Isaac Sim like Gazebo classic.

Features

• This spawns URDF model at the desired timing and position.
• This provide ros2_control plugin to use ros2_controller, for example diff_drive_controller.
• This supports rotational and prismatic 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 launchs sensors and controller at the desired timing.
• This sets stiffness, damping and friction from URDF description.

Supported Versions

The main branch targets Isaac Sim 6.x with ROS 2 Jazzy. For Isaac Sim 5.x and earlier, use the commits before the Isaac Sim 6 migration.

System Requirements

Element	Minimum Spec
OS	Ubuntu 22.04 / 24.04
CPU	Intel Core i7 (7th Generation) AMD Ryzen 5
Cores	4
RAM	32GB
Storage	50GB SSD
GPU	GeForce RTX 2070
VRAM	8GB
NVIDIA Driver	575 or later (Isaac Sim 6 is built with CUDA 12.9; with older drivers the RTX LiDAR publishes no data)
ROS 2	Jazzy

How to Use

Please check this document.

Notes for Isaac Sim 6

• LiDAR: JSON lidar profiles were removed from Isaac Sim. Set the URDF <isaac><sensor type="lidar"><config> tag to one of the sensor asset names bundled with Isaac Sim (e.g. Example_Rotary, Example_Rotary_2D, SICK_TIM781, RPLIDAR_S2E, OS1, HESAI_XT32_SD10). Unsupported names fall back to Example_Rotary_2D (2D) / Example_Rotary (3D) with a warning that lists all supported names.
• Spawned robots place links under /<robot>/Geometry/ and joints under /<robot>/Physics/, so sensor topic names derived from prim paths change accordingly.
• The surface gripper is built on the Isaac Sim 6 robot schema (an IsaacSurfaceGripper prim with a D6 attachment point joint) and is controlled through the SurfaceGripperInterface.