scout_v2_isaac

Overview

• Agilex Scout v2.0 simulation for NVIDIA Isaac Sim.

Keywords: simulation, Isaac, scout, agilex

License

• The source code is released under a MIT License.

Author: Leonardo Lima (leo.mendes21@hotmail.com)

Dependencies

The scout_v2_isaac package has been created and tested under Ubuntu 22.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

OS	Isaac Sim	ROS 2
Ubuntu 22.04	2022.2.1	Humble

How to use

Simulation setup

First, you need to open the terminal and create a ROS2 workspace

mkdir -p scout_ws/src

go to the src folder and clone the repository

cd scout_ws/src
git clone https://github.com/leonlime/scout_v2_isaac.git

build the package

cd ..
source /opt/ros/humble/setup.bash
colcon build

Running the simulation

Open the terminal, navigate to the workspace you created before and source ROS2. Don’t forget, always before opening Isaac Sim, the first thing to do is start a terminal and source ROS2 Humble.

cd scout_ws
source /opt/ros/humble/setup.bash

Open Isaac sim, inside Isaac sim, change the extension ROS BRIDGE to ROS2 HUMBLE BRIDGE. Open scout_v2_simulation.usd file and click in Isaac Play button.

Go back to the terminal and check the ROS2 topics

ros2 topic list

To visualize the camera images, LiDAR and odometry, open Rviz

ros2 launch scout_v2_ros2 scout_v2_rviz.launch.py

You can navigate using teleop twist command

ros2 run teleop_twist_keyboard teleop_twist_keyboard

PS: If this simulation is too heavy for your PC. You can try disable left and right camera plugin.