Updates for Isaac Sim 4.0.0

isaac-sim · Jun 4, 2024 · d686d15 · d686d15
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -0,0 +1,15 @@
+# Changelog
+
+## [1.0.0] - 2024-05-28
+
+### Added
+- Ackermann publisher script for Ackermann Steering tutorial [Noetic, Foxy, Humble]
+- New `isaacsim` package to enable running Isaac Sim as a ROS2 node or from a ROS2 launch file! [Foxy, Humble]
+- `isaac_ros2_messages` service interfaces for listing prims and manipulate their attributes [Foxy, Humble]
+
+### Removed
+- Removed support for quadruped VINS Fusion example [Noetic]
+
+## [0.1.0] - 2023-12-18
+### Added
+- Noetic, Foxy, Humble workspaces for Isaac Sim 2023.1.1
diff --git a/foxy_ws/fastdds.xml b/foxy_ws/fastdds.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 
-<license>Copyright (c) 2022, NVIDIA CORPORATION.  All rights reserved.
+<license>Copyright (c) 2024, NVIDIA CORPORATION.  All rights reserved.
 NVIDIA CORPORATION and its licensors retain all intellectual property
 and proprietary rights in and to this software, related documentation
 and any modifications thereto.  Any use, reproduction, disclosure or

diff --git a/foxy_ws/src/custom_message/package.xml b/foxy_ws/src/custom_message/package.xml
@@ -4,8 +4,17 @@
   <name>custom_message</name>
   <version>0.0.0</version>
   <description>Custom Message Sample Package</description>
-  <maintainer email="[email protected]">isaac sim</maintainer>
-  <license>TODO: License declaration</license>
+  <maintainer email="[email protected]">Isaac Sim</maintainer>
+
+  <license>Copyright (c) 2024, NVIDIA CORPORATION. All rights reserved.
+    NVIDIA CORPORATION and its licensors retain all intellectual property
+    and proprietary rights in and to this software, related documentation
+    and any modifications thereto.  Any use, reproduction, disclosure or
+    distribution of this software and related documentation without an express
+    license agreement from NVIDIA CORPORATION is strictly prohibited.</license>
+
+  <url type="Documentation">https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html</url>
+  <url type="Forums">https://forums.developer.nvidia.com/c/omniverse/simulation/69</url>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 

diff --git a/foxy_ws/src/isaac_ros2_messages/CMakeLists.txt b/foxy_ws/src/isaac_ros2_messages/CMakeLists.txt
@@ -47,7 +47,11 @@ find_package(geometry_msgs REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/IsaacPose.srv"
+  "srv/GetPrims.srv"
+  "srv/GetPrimAttributes.srv"
+  "srv/GetPrimAttribute.srv"
+  "srv/SetPrimAttribute.srv"
   DEPENDENCIES builtin_interfaces std_msgs geometry_msgs
- )
+)
 
- ament_package()
+ament_package()
diff --git a/foxy_ws/src/isaac_ros2_messages/package.xml b/foxy_ws/src/isaac_ros2_messages/package.xml
@@ -2,19 +2,19 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros2_messages</name>
-  <version>0.1.0</version>
+  <version>0.2.0</version>
   <description>ROS2 messages for isaac ros2 bridge</description>
-    <maintainer email="isaac-sim@todo.todo">isaac sim</maintainer>
+    <maintainer email="isaac-sim[email protected]">Isaac Sim</maintainer>
 
-  <license>Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved.
+  <license>Copyright (c) 2024, NVIDIA CORPORATION. All rights reserved.
     NVIDIA CORPORATION and its licensors retain all intellectual property
     and proprietary rights in and to this software, related documentation
     and any modifications thereto.  Any use, reproduction, disclosure or
     distribution of this software and related documentation without an express
     license agreement from NVIDIA CORPORATION is strictly prohibited.</license>
 
   <url type="Documentation">https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html</url>
-  <url type="Forums">https://forums.developer.nvidia.com/c/agx-autonomous-machines/isaac/simulation</url>
+  <url type="Forums">https://forums.developer.nvidia.com/c/omniverse/simulation/69</url>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 

diff --git a/foxy_ws/src/isaac_ros2_messages/srv/GetPrimAttribute.srv b/foxy_ws/src/isaac_ros2_messages/srv/GetPrimAttribute.srv
@@ -0,0 +1,7 @@
+string path             # prim path
+string attribute        # attribute name
+---
+string value            # attribute value (as JSON)
+string type             # attribute type
+bool success            # indicate a successful execution of the service
+string message          # informational, e.g. for error messages
diff --git a/foxy_ws/src/isaac_ros2_messages/srv/GetPrimAttributes.srv b/foxy_ws/src/isaac_ros2_messages/srv/GetPrimAttributes.srv
@@ -0,0 +1,7 @@
+string path             # prim path
+---
+string[] names          # list of attribute base names (name used to Get or Set an attribute)
+string[] displays       # list of attribute display names (name displayed in Property tab)
+string[] types          # list of attribute data types
+bool success            # indicate a successful execution of the service
+string message          # informational, e.g. for error messages
diff --git a/foxy_ws/src/isaac_ros2_messages/srv/GetPrims.srv b/foxy_ws/src/isaac_ros2_messages/srv/GetPrims.srv
@@ -0,0 +1,6 @@
+string path             # get prims at path
+---
+string[] paths          # list of prim paths
+string[] types          # prim type names
+bool success            # indicate a successful execution of the service
+string message          # informational, e.g. for error messages
diff --git a/foxy_ws/src/isaac_ros2_messages/srv/SetPrimAttribute.srv b/foxy_ws/src/isaac_ros2_messages/srv/SetPrimAttribute.srv
@@ -0,0 +1,6 @@
+string path             # prim path
+string attribute        # attribute name
+string value            # attribute value (as JSON)
+---
+bool success            # indicate a successful execution of the service
+string message          # informational, e.g. for error messages
diff --git a/foxy_ws/src/isaac_tutorials/CMakeLists.txt b/foxy_ws/src/isaac_tutorials/CMakeLists.txt
@@ -12,6 +12,7 @@ install(DIRECTORY
 # Install Python executables
 install(PROGRAMS
   scripts/ros2_publisher.py
+  scripts/ros2_ackermann_publisher.py
   DESTINATION lib/${PROJECT_NAME}
 )
 ament_package()
diff --git a/foxy_ws/src/isaac_tutorials/package.xml b/foxy_ws/src/isaac_tutorials/package.xml
@@ -7,24 +7,25 @@
     The isaac_tutorials package
   </description>
 
-  <maintainer email="isaac-sim@todo.todo">isaac sim</maintainer>
+  <maintainer email="isaac-sim[email protected]">Isaac Sim</maintainer>
 
-  <license>Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved.
+  <license>Copyright (c) 2024, NVIDIA CORPORATION. All rights reserved.
     NVIDIA CORPORATION and its licensors retain all intellectual property
     and proprietary rights in and to this software, related documentation
     and any modifications thereto.  Any use, reproduction, disclosure or
     distribution of this software and related documentation without an express
     license agreement from NVIDIA CORPORATION is strictly prohibited.</license>
 
   <url type="Documentation">https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html</url>
-  <url type="Forums">https://forums.developer.nvidia.com/c/agx-autonomous-machines/isaac/simulation</url>
+  <url type="Forums">https://forums.developer.nvidia.com/c/omniverse/simulation/69</url>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <build_depend>launch</build_depend>
   <build_depend>launch_ros</build_depend>
 
   <build_depend>joint_state_publisher</build_depend>
+  <build_depend>ackermann_msgs</build_depend>
 
   <build_depend>rviz2</build_depend>
   <build_depend>turtlebot3</build_depend>

diff --git a/foxy_ws/src/isaac_tutorials/rviz2/carter_stereo.rviz b/foxy_ws/src/isaac_tutorials/rviz2/carter_stereo.rviz
@@ -57,17 +57,17 @@ Visualization Manager:
           Value: true
         front_3d_lidar:
           Value: true
-        front_stereo_camera:imu:
+        front_stereo_camera_imu:
           Value: true
-        front_stereo_camera:left_rgb:
+        front_stereo_camera_left_optical:
           Value: true
-        front_stereo_camera:right_rgb:
+        front_stereo_camera_right_optical:
           Value: true
-        left_stereo_camera:imu:
+        left_stereo_camera_imu:
           Value: true
-        left_stereo_camera:left_rgb:
+        left_stereo_camera_left_optical:
           Value: true
-        left_stereo_camera:right_rgb:
+        left_stereo_camera_right_optical:
           Value: true
         odom:
           Value: true
@@ -79,11 +79,11 @@ Visualization Manager:
           Value: true
         rear_stereo_camera:right_rgb:
           Value: true
-        right_stereo_camera:imu:
+        right_stereo_camera_imu:
           Value: true
-        right_stereo_camera:left_rgb:
+        right_stereo_camera_left_optical:
           Value: true
-        right_stereo_camera:right_rgb:
+        right_stereo_camera_right_optical:
           Value: true
       Marker Scale: 1
       Name: TF
@@ -99,17 +99,17 @@ Visualization Manager:
               {}
             front_3d_lidar:
               {}
-            front_stereo_camera:imu:
+            front_stereo_camera_imu:
               {}
-            front_stereo_camera:left_rgb:
+            front_stereo_camera_left_optical:
               {}
-            front_stereo_camera:right_rgb:
+            front_stereo_camera_right_optical:
               {}
-            left_stereo_camera:imu:
+            left_stereo_camera_imu:
               {}
-            left_stereo_camera:left_rgb:
+            left_stereo_camera_left_optical:
               {}
-            left_stereo_camera:right_rgb:
+            left_stereo_camera_right_optical:
               {}
             rear_2d_lidar:
               {}
@@ -119,11 +119,11 @@ Visualization Manager:
               {}
             rear_stereo_camera:right_rgb:
               {}
-            right_stereo_camera:imu:
+            right_stereo_camera_imu:
               {}
-            right_stereo_camera:left_rgb:
+            right_stereo_camera_left_optical:
               {}
-            right_stereo_camera:right_rgb:
+            right_stereo_camera_right_optical:
               {}
       Update Interval: 0
       Value: true
@@ -177,7 +177,7 @@ Visualization Manager:
         Durability Policy: Volatile
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /front_stereo_camera/left_rgb/image_raw
+        Value: /front_stereo_camera/left/image_raw
       Value: true
     - Class: rviz_default_plugins/Image
       Enabled: true
@@ -191,7 +191,7 @@ Visualization Manager:
         Durability Policy: Volatile
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /front_stereo_camera/right_rgb/image_raw
+        Value: /front_stereo_camera/right/image_raw
       Value: true
     - Alpha: 1
       Autocompute Intensity Bounds: true
@@ -222,7 +222,7 @@ Visualization Manager:
         Durability Policy: Volatile
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /front_3d_lidar/point_cloud
+        Value: /front_3d_lidar/lidar_points
       Use Fixed Frame: true
       Use rainbow: true
       Value: true

diff --git a/foxy_ws/src/isaac_tutorials/scripts/ros2_ackermann_publisher.py b/foxy_ws/src/isaac_tutorials/scripts/ros2_ackermann_publisher.py
@@ -0,0 +1,56 @@
+#!/usr/bin/env python3
+
+# Copyright (c) 2020-2024, NVIDIA CORPORATION.  All rights reserved.
+#
+# NVIDIA CORPORATION and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION is strictly prohibited.
+
+import rclpy
+from rclpy.node import Node
+
+from ackermann_msgs.msg import AckermannDriveStamped
+import numpy as np
+
+class MinimalPublisher(Node):
+
+    def __init__(self):
+        super().__init__('test_ackermann')
+        self.publisher_ = self.create_publisher(AckermannDriveStamped, 'ackermann_cmd', 10)
+        timer_period = 0.05  # seconds
+        self.timer = self.create_timer(timer_period, self.timer_callback)
+        self.i = 0
+
+    def timer_callback(self):
+        msg = AckermannDriveStamped()
+
+        # Only command forklift using acceleration and steering angle
+        degrees1 = np.arange(0, 60)
+        degrees2 = np.arange(-60, 0)
+        degrees = np.concatenate((degrees1, degrees1[::-1], degrees2[::-1], degrees2))
+        msg.header.frame_id = "forklift"
+        msg.header.stamp = self.get_clock().now().to_msg()
+        msg.drive.steering_angle =  0.0174533 * (degrees[self.i % degrees.size])
+
+        msg.drive.acceleration = float(degrees[self.i % degrees.size])
+
+        self.publisher_.publish(msg)
+        self.i += 1
+
+
+def main(args=None):
+
+    rclpy.init(args=args)
+
+    minimal_publisher = MinimalPublisher()
+
+    rclpy.spin(minimal_publisher)
+
+    minimal_publisher.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
diff --git a/foxy_ws/src/isaacsim/CMakeLists.txt b/foxy_ws/src/isaacsim/CMakeLists.txt
@@ -0,0 +1,18 @@
+cmake_minimum_required(VERSION 3.5)
+project(isaacsim)
+
+find_package(ament_cmake REQUIRED)
+find_package(rclpy REQUIRED)
+
+install(DIRECTORY
+  scripts
+  launch
+  DESTINATION share/${PROJECT_NAME})
+
+# Install Python executables
+install(PROGRAMS
+  scripts/run_isaacsim.py
+  scripts/open_isaacsim_stage.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+ament_package()