NOTES:
- This repository is under development, you might find compilation errors, malfunctions or some undocumented features.
- This code will only run on Linux (for now).
- You should install Ignition Fortress (from source).
Requirements:
- ROS 2 Galactic.
- Ignition Gazebo Fortress
- ubuntu 20.04
Features:
- Ignition -> IsaacSim
- Move/rotate models
- Create/remove models
- Joints
- Sensors (lidar, cameras)
- IsaacSim -> Ignition
- Create/remove models
- How to compile it
- Quickstart
- Mobile base simulation (turtlebot3) (Nav2)
- Articulated arm Isaac Sim -> Ignition (Moveit 2)
- Hybrid simulation (Nav2)