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Updates for Isaac Sim 2023.1.1
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‎README.md‎

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# Isaac Sim ROS & ROS2 Workspaces
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[Click here for usage and installation instructions with Isaac Sim](https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/install_ros.html)
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This repository contains three workspaces: `noetic_ws` (ROS Noetic), `foxy_ws` (ROS2 Foxy) and `humble_ws` (ROS2 Humble).
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[Click here for usage and installation instructions with Isaac Sim](https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_ros.html)
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When cloning this repository, all three workspaces are downloaded. Depending on which ROS distro you are using, follow the [setup instructions](https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_ros.html#setting-up-workspaces) for building your specific workspace.

‎foxy_ws/src/isaac_tutorials/rviz2/carter_stereo.rviz‎

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@@ -9,7 +9,7 @@ Panels:
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- /TF1
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- /Odometry1/Topic1
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Splitter Ratio: 0.5
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Tree Height: 1446
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Tree Height: 469
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- Class: rviz_common/Selection
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Name: Selection
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- Class: rviz_common/Tool Properties
@@ -51,27 +51,39 @@ Visualization Manager:
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All Enabled: true
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base_link:
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Value: true
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carter_camera_stereo_left:
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chassis_link:
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Value: true
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carter_camera_stereo_right:
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front_2d_lidar:
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Value: true
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carter_lidar:
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front_3d_lidar:
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Value: true
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chassis_link:
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front_stereo_camera:imu:
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Value: true
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front_stereo_camera:left_rgb:
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Value: true
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com_offset:
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front_stereo_camera:right_rgb:
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Value: true
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imu:
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left_stereo_camera:imu:
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Value: true
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left_wheel_link:
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left_stereo_camera:left_rgb:
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Value: true
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left_stereo_camera:right_rgb:
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Value: true
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odom:
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Value: true
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rear_pivot_link:
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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_wheel_link:
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rear_stereo_camera:left_rgb:
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Value: true
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right_wheel_link:
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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_rgb:
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Value: true
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right_stereo_camera:right_rgb:
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Value: true
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Marker Scale: 1
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Name: TF
@@ -82,23 +94,37 @@ Visualization Manager:
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odom:
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base_link:
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chassis_link:
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carter_camera_stereo_left:
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{}
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carter_camera_stereo_right:
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{}
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carter_lidar:
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{}
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com_offset:
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{}
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imu:
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{}
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left_wheel_link:
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{}
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rear_pivot_link:
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rear_wheel_link:
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{}
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right_wheel_link:
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{}
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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_rgb:
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{}
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front_stereo_camera:right_rgb:
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{}
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left_stereo_camera:imu:
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{}
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left_stereo_camera:left_rgb:
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{}
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left_stereo_camera:right_rgb:
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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_rgb:
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{}
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right_stereo_camera:right_rgb:
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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
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Max Value: 1
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Median window: 5
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Min Value: 0
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Name: Left Camera - Depth
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Normalize Range: true
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Topic:
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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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Value: /depth_left
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Value: true
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- Class: rviz_default_plugins/Image
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Enabled: true
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Max Value: 1
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Median window: 5
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Min Value: 0
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Name: Right Camera - Depth
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Name: Left Camera - RGB
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Normalize Range: true
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Topic:
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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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Value: /depth_right
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Value: /front_stereo_camera/left_rgb/image_raw
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Value: true
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- Class: rviz_default_plugins/Image
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Enabled: true
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Max Value: 1
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Median window: 5
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Min Value: 0
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Name: Left Camera - RGB
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Name: Right Camera - RGB
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Normalize Range: true
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Topic:
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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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Value: /rgb_left
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Value: /front_stereo_camera/right_rgb/image_raw
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Value: true
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- Class: rviz_default_plugins/Image
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz_default_plugins/PointCloud2
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Color: 255; 255; 255
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Color Transformer: Intensity
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Decay Time: 0
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Enabled: true
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Max Value: 1
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Median window: 5
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Min Value: 0
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Name: Right Camera - RGB
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Normalize Range: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: PointCloud2
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Position Transformer: XYZ
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.009999999776482582
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Style: Flat Squares
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Topic:
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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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Value: /rgb_right
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Value: /front_3d_lidar/point_cloud
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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Enabled: true
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Global Options:
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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: 0.7320740818977356
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Y: 0.9904739856719971
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Z: 1.7632932662963867
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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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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.7803976535797119
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Pitch: 0.8903975486755371
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Target Frame: <Fixed Frame>
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Value: Orbit (rviz)
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Yaw: 1.0203975439071655
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Yaw: 1.9503958225250244
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 1850
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Height: 752
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Hide Left Dock: false
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Hide Right Dock: false
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Left Camera - Depth:
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collapsed: 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: 000000ff00000000fd0000000400000000000001f70000069efc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006e0000069e0000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000002800520069006700680074002000430061006d0065007200610020002d0020004400650070007400680300002371000008b8000002390000017ffb00000026004c006500660074002000430061006d0065007200610020002d0020004400650070007400680300001f1a000008b50000023c00000181fb00000022004c006500660074002000430061006d0065007200610020002d00200052004700420300001f20000004100000023b00000180fb0000002400520069006700680074002000430061006d0065007200610020002d00200052004700420300002369000004130000023c0000017afb0000000a0049006d006100670065030000236c0000040e0000023e0000017e000000010000015f0000069efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000006e0000069e0000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000007220000069e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Right Camera - Depth:
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collapsed: false
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QMainWindow State: 000000ff00000000fd0000000400000000000001880000029afc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000029a000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000002800520069006700680074002000430061006d0065007200610020002d0020004400650070007400680200000285000002b4000002390000017ffb00000026004c006500660074002000430061006d0065007200610020002d0020004400650070007400680200000227000002b70000023c00000181fb00000022004c006500660074002000430061006d0065007200610020002d0020005200470042030000030e000001200000016b000000fafb0000002400520069006700680074002000430061006d0065007200610020002d002000520047004203000005360000011f00000169000000fbfb0000000a0049006d006100670065030000236c0000040e0000023e0000017e000000010000015f0000029afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b0000029a000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000003dd0000029a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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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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Tool Properties:
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collapsed: false
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Views:
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collapsed: false
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Width: 2704
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X: 7369
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Y: 788
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collapsed: true
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Width: 1387
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X: 344
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Y: 122

‎foxy_ws/src/navigation/carter_navigation/params/hospital/multi_robot_carter_navigation_params_1.yaml‎

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robot_base_frame: base_link
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use_sim_time: True
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rolling_window: True
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width: 10
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height: 10
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width: 7
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height: 7
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resolution: 0.05
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transform_tolerance: 0.3
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footprint: "[ [0.14, 0.25], [0.14, -0.25], [-0.607, -0.25], [-0.607, 0.25] ]"

‎foxy_ws/src/navigation/carter_navigation/params/hospital/multi_robot_carter_navigation_params_2.yaml‎

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robot_base_frame: base_link
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use_sim_time: True
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rolling_window: True
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width: 10
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height: 10
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width: 7
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height: 7
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resolution: 0.05
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transform_tolerance: 0.3
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footprint: "[ [0.14, 0.25], [0.14, -0.25], [-0.607, -0.25], [-0.607, 0.25] ]"

‎foxy_ws/src/navigation/carter_navigation/params/hospital/multi_robot_carter_navigation_params_3.yaml‎

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robot_base_frame: base_link
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use_sim_time: True
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rolling_window: True
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width: 10
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height: 10
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width: 7
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height: 7
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resolution: 0.05
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transform_tolerance: 0.3
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footprint: "[ [0.14, 0.25], [0.14, -0.25], [-0.607, -0.25], [-0.607, 0.25] ]"

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