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Updates for Isaac Sim 4.2.0
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‎CHANGELOG.md‎

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# Changelog
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## [2.0.0] - 2024-09-20
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### Added
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- New `iw_hub_navigation` package to run Nav2 with new iw.hub robot in new environment [Foxy, Humble]
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- New RViz config for TurtleBot tutorials [Noetic]
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- New RViz config and launch file with Carter robot for SLAM with gmapping
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### Changed
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- Bumped versions in `isaacsim` package to Isaac Sim version 4.2.0 [Foxy, Humble]
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- Changed `carter_2dnav` package to only use RTX Lidar [Noetic]
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- Updated dockerfiles to use setuptools 70.0.0 [Humble, Foxy]
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- Updated QoS settings for image subscribers in ``carter_stereo.rviz`` and ``carter_navigation.rviz`` config files. [Foxy, Humble]
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## [1.1.0] - 2024-08-01
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### Added

‎foxy_ws/src/isaac_tutorials/rviz2/carter_stereo.rviz‎

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Original file line numberDiff line numberDiff line change
@@ -7,9 +7,14 @@ Panels:
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- /Global Options1
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- /Status1
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- /TF1
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- /Odometry1/Topic1
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- /Left Camera - RGB1
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- /Left Camera - RGB1/Topic1
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- /Right Camera - RGB1
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- /Right Camera - RGB1/Topic1
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- /PointCloud21
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- /PointCloud21/Topic1
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Splitter Ratio: 0.5
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Tree Height: 469
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Tree Height: 415
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- Class: rviz_common/Selection
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Name: Selection
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- Class: rviz_common/Tool Properties
@@ -49,82 +54,13 @@ Visualization Manager:
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Frame Timeout: 15
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Frames:
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All Enabled: true
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base_link:
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Value: true
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chassis_link:
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Value: true
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front_2d_lidar:
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Value: true
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front_3d_lidar:
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Value: true
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front_stereo_camera_imu:
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Value: true
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front_stereo_camera_left_optical:
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Value: true
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front_stereo_camera_right_optical:
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Value: true
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left_stereo_camera_imu:
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Value: true
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left_stereo_camera_left_optical:
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Value: true
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left_stereo_camera_right_optical:
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Value: true
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odom:
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Value: true
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rear_2d_lidar:
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Value: true
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rear_stereo_camera:imu:
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Value: true
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rear_stereo_camera:left_rgb:
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Value: true
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rear_stereo_camera:right_rgb:
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Value: true
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right_stereo_camera_imu:
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Value: true
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right_stereo_camera_left_optical:
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Value: true
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right_stereo_camera_right_optical:
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Value: true
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Marker Scale: 1
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: false
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Tree:
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odom:
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base_link:
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chassis_link:
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{}
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front_2d_lidar:
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{}
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front_3d_lidar:
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{}
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front_stereo_camera_imu:
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{}
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front_stereo_camera_left_optical:
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{}
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front_stereo_camera_right_optical:
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{}
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left_stereo_camera_imu:
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{}
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left_stereo_camera_left_optical:
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{}
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left_stereo_camera_right_optical:
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{}
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rear_2d_lidar:
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{}
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rear_stereo_camera:imu:
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{}
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rear_stereo_camera:left_rgb:
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{}
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rear_stereo_camera:right_rgb:
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{}
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right_stereo_camera_imu:
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{}
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right_stereo_camera_left_optical:
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{}
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right_stereo_camera_right_optical:
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{}
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{}
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Update Interval: 0
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Value: true
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- Angle Tolerance: 0.10000000149011612
@@ -176,7 +112,7 @@ Visualization Manager:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Reliability Policy: Best Effort
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Value: /front_stereo_camera/left/image_raw
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Value: true
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- Class: rviz_default_plugins/Image
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Reliability Policy: Best Effort
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Value: /front_stereo_camera/right/image_raw
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Value: true
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- Alpha: 1
@@ -221,7 +157,7 @@ Visualization Manager:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Reliability Policy: Best Effort
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Value: /front_3d_lidar/lidar_points
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Use Fixed Frame: true
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Use rainbow: true
@@ -269,16 +205,16 @@ Visualization Manager:
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Views:
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Current:
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Class: rviz_default_plugins/Orbit
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Distance: 7.74399995803833
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Distance: 17.497577667236328
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: 0.08670726418495178
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Y: -0.48873579502105713
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Z: 2.1064507961273193
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X: -1.3069220781326294
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Y: 2.1997342109680176
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Z: -0.3324333727359772
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
@@ -292,12 +228,12 @@ Visualization Manager:
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Window Geometry:
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Displays:
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collapsed: false
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Height: 752
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Height: 704
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Hide Left Dock: false
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Hide Right Dock: true
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Left Camera - RGB:
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collapsed: false
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QMainWindow State: 000000ff00000000fd0000000400000000000001880000029afc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000029a000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000002800520069006700680074002000430061006d0065007200610020002d0020004400650070007400680200000285000002b4000002390000017ffb00000026004c006500660074002000430061006d0065007200610020002d0020004400650070007400680200000227000002b70000023c00000181fb00000022004c006500660074002000430061006d0065007200610020002d0020005200470042030000030e000001200000016b000000fafb0000002400520069006700680074002000430061006d0065007200610020002d002000520047004203000005360000011f00000169000000fbfb0000000a0049006d006100670065030000236c0000040e0000023e0000017e000000010000015f0000029afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b0000029a000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000003dd0000029a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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QMainWindow State: 000000ff00000000fd00000004000000000000022700000266fc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000266000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000002800520069006700680074002000430061006d0065007200610020002d0020004400650070007400680200000285000002b4000002390000017ffb00000026004c006500660074002000430061006d0065007200610020002d0020004400650070007400680200000227000002b70000023c00000181fb00000022004c006500660074002000430061006d0065007200610020002d00200052004700420300000270000000c80000016b000000fafb0000002400520069006700680074002000430061006d0065007200610020002d002000520047004203000002930000020500000169000000fbfb0000000a0049006d006100670065030000236c0000040e0000023e0000017e000000010000015f0000029afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b0000029a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000018b0000026600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Right Camera - RGB:
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collapsed: false
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Selection:
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collapsed: false
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Views:
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collapsed: true
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Width: 1387
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X: 344
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Y: 122
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Width: 952
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X: 72
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Y: 27

‎foxy_ws/src/isaacsim/launch/run_isaacsim.launch.py‎

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# Declare all launch arguments corresponding to the bash script options
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launch_args = [
19-
DeclareLaunchArgument('version', default_value='4.1.0', description='Specify the version of Isaac Sim to use. Isaac Sim will be run from default install root folder for the specified version. Leave empty to use latest version of Isaac Sim.'),
19+
DeclareLaunchArgument('version', default_value='4.2.0', description='Specify the version of Isaac Sim to use. Isaac Sim will be run from default install root folder for the specified version. Leave empty to use latest version of Isaac Sim.'),
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DeclareLaunchArgument('install_path', default_value='', description='If Isaac Sim is insalled in a non-default location, provide a specific path to Isaac Sim installation root folder. (If defined, "version" parameter will be ignored)'),
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‎foxy_ws/src/isaacsim/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
33
<package format="3">
44
<name>isaacsim</name>
5-
<version>0.1.0</version>
5+
<version>0.2.0</version>
66
<description>
77
The isaacsim package that contains the script which can used to launch Isaac Sim as a ROS2 node from a launch file.
88
</description>

‎foxy_ws/src/isaacsim/scripts/run_isaacsim.py‎

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# Default values
2222
defaults = {
23-
"isaac_sim_version": "4.1.0",
23+
"isaac_sim_version": "4.2.0",
2424
"isaac_sim_path": "",
2525
"use_internal_libs": False,
2626
"dds_type": "fastdds",
@@ -106,7 +106,7 @@ def execute_launch(self):
106106
# If custom Isaac Sim Installation folder not given, use the default path using version number provided.
107107
home_var = "USERPROFILE" if sys.platform == "win32" else "HOME"
108108
home_path = os.getenv(home_var)
109-
if version_ge(args.version, "4.1.0") and not version_gt(args.version, "2021.2.0"):
109+
if version_ge(args.version, "4.2.0") and not version_gt(args.version, "2021.2.0"):
110110
if sys.platform == "win32":
111111
filepath_root = os.path.join(home_path, "AppData", "Local", "ov", "pkg", f"isaac-sim-{args.version}")
112112
else:

‎foxy_ws/src/navigation/carter_navigation/launch/carter_navigation_isaacsim.launch.py‎

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@@ -63,7 +63,7 @@ def execute_second_node_if_condition_met(event, second_node_action):
6363
return LaunchDescription(
6464
[
6565
# Declaring the Isaac Sim scene path. 'gui' launch argument is already used withing run_isaac_sim.launch.py
66-
DeclareLaunchArgument("gui", default_value='omniverse://localhost/NVIDIA/Assets/Isaac/4.1/Isaac/Samples/ROS2/Scenario/carter_warehouse_navigation.usd', description="Path to isaac sim scene"),
66+
DeclareLaunchArgument("gui", default_value='omniverse://localhost/NVIDIA/Assets/Isaac/4.2/Isaac/Samples/ROS2/Scenario/carter_warehouse_navigation.usd', description="Path to isaac sim scene"),
6767

6868
# Include Isaac Sim launch file from isaacsim package with given launch parameters.
6969
IncludeLaunchDescription(
@@ -73,7 +73,7 @@ def execute_second_node_if_condition_met(event, second_node_action):
7373
]
7474
),
7575
launch_arguments={
76-
'version': '4.1.0',
76+
'version': '4.2.0',
7777
'play_sim_on_start': 'true',
7878
}.items(),
7979
),

‎foxy_ws/src/navigation/carter_navigation/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
33
<package format="3">
44
<name>carter_navigation</name>
5-
<version>0.1.0</version>
5+
<version>0.1.1</version>
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<description>
77
The carter_navigation package
88
</description>

‎foxy_ws/src/navigation/iw_hub_navigation/CMakeLists.txt‎

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1+
cmake_minimum_required(VERSION 3.5)
2+
project(iw_hub_navigation)
3+
4+
find_package(ament_cmake REQUIRED)
5+
6+
install(DIRECTORY
7+
launch
8+
params
9+
maps
10+
rviz2
11+
DESTINATION share/${PROJECT_NAME})
12+
13+
ament_package()

‎foxy_ws/src/navigation/iw_hub_navigation/launch/iw_hub_navigation.launch.py‎

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## Copyright (c) 2024, NVIDIA CORPORATION. All rights reserved.
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## NVIDIA CORPORATION and its licensors retain all intellectual property
3+
## and proprietary rights in and to this software, related documentation
4+
## and any modifications thereto. Any use, reproduction, disclosure or
5+
## distribution of this software and related documentation without an express
6+
## license agreement from NVIDIA CORPORATION is strictly prohibited.
7+
8+
import os
9+
from ament_index_python.packages import get_package_share_directory
10+
from launch import LaunchDescription
11+
from launch.actions import DeclareLaunchArgument
12+
from launch.actions import IncludeLaunchDescription
13+
from launch.launch_description_sources import PythonLaunchDescriptionSource
14+
from launch.substitutions import LaunchConfiguration
15+
from launch_ros.actions import Node
16+
17+
18+
def generate_launch_description():
19+
20+
use_sim_time = LaunchConfiguration("use_sim_time", default="True")
21+
22+
map_dir = LaunchConfiguration(
23+
"map",
24+
default=os.path.join(
25+
get_package_share_directory("iw_hub_navigation"), "maps", "iw_hub_warehouse_navigation.yaml"
26+
),
27+
)
28+
29+
param_dir = LaunchConfiguration(
30+
"params_file",
31+
default=os.path.join(
32+
get_package_share_directory("iw_hub_navigation"), "params", "iw_hub_navigation_params.yaml"
33+
),
34+
)
35+
36+
nav2_bringup_launch_dir = os.path.join(get_package_share_directory("nav2_bringup"), "launch")
37+
38+
rviz_config_dir = os.path.join(get_package_share_directory("iw_hub_navigation"), "rviz2", "iw_hub_navigation.rviz")
39+
40+
return LaunchDescription(
41+
[
42+
DeclareLaunchArgument("map", default_value=map_dir, description="Full path to map file to load"),
43+
DeclareLaunchArgument(
44+
"params_file", default_value=param_dir, description="Full path to param file to load"
45+
),
46+
DeclareLaunchArgument(
47+
"use_sim_time", default_value="true", description="Use simulation (Omniverse Isaac Sim) clock if true"
48+
),
49+
IncludeLaunchDescription(
50+
PythonLaunchDescriptionSource(os.path.join(nav2_bringup_launch_dir, "rviz_launch.py")),
51+
launch_arguments={"namespace": "", "use_namespace": "False", "rviz_config": rviz_config_dir}.items(),
52+
),
53+
IncludeLaunchDescription(
54+
PythonLaunchDescriptionSource([nav2_bringup_launch_dir, "/bringup_launch.py"]),
55+
launch_arguments={"map": map_dir, "use_sim_time": use_sim_time, "params_file": param_dir}.items(),
56+
),
57+
]
58+
)

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