Updates for Isaac Sim 5.1.0 Early Developer Release

ayushgnv · ayushgnv · commit 48fb13d1c221 · 2025-10-02T14:52:35.000-07:00
diff --git a/.gitignore b/.gitignore
@@ -6,3 +6,5 @@ jazzy_ws/install
 jazzy_ws/log
 build_ws/jazzy
 build_ws/humble
+.vscode/
+.*.pyc
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,4 +1,17 @@
 # Changelog
+
+## [4.5.0] - 2025-09-29
+### Changed
+- Updated links and bumped versions in all packages to Isaac Sim version 5.1.0 [Humble, Jazzy]
+
+## [4.4.4] - 2025-09-29
+### Changed
+- Updated setgoal.py in `isaac_ros_navigation_goal` for NavigateToPose action result handling [Humble, Jazzy]
+
+## [4.4.3] - 2025-08-14
+### Changed
+- `.gitignore` to ignore `.vscode/`.
+
 ## [4.4.2] - 2025-08-06
 
 ### Changed
diff --git a/README.md b/README.md
@@ -2,6 +2,6 @@
 
 This repository contains two workspaces: `humble_ws` (ROS2 Humble) and `jazzy_ws` (ROS2 Jazzy). 
 
-[Click here for usage and installation instructions with Isaac Sim](https://docs.isaacsim.omniverse.nvidia.com/5.0.0/index.html)
+[Click here for usage and installation instructions with Isaac Sim](https://docs.isaacsim.omniverse.nvidia.com/5.1.0/index.html)
 
-When cloning this repository, both workspaces are downloaded. Depending on which ROS distro you are using, follow the [setup instructions](https://docs.isaacsim.omniverse.nvidia.com/5.0.0/installation/install_ros.html#setting-up-workspaces) for building your specific workspace.
+When cloning this repository, both workspaces are downloaded. Depending on which ROS distro you are using, follow the [setup instructions](https://docs.isaacsim.omniverse.nvidia.com/5.1.0/installation/install_ros.html#setting-up-workspaces) for building your specific workspace.
diff --git a/humble_ws/src/ackermann_control/cmdvel_to_ackermann/package.xml b/humble_ws/src/ackermann_control/cmdvel_to_ackermann/package.xml
@@ -22,7 +22,7 @@
     See the License for the specific language governing permissions and
     limitations under the License.
   </license>  
-  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.0.0/index.html</url>
+  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.1.0/index.html</url>
   <url type="Forums">https://forums.developer.nvidia.com/c/omniverse/simulation/69</url>
   
   <buildtool_depend>ament_cmake</buildtool_depend>
diff --git a/humble_ws/src/custom_message/package.xml b/humble_ws/src/custom_message/package.xml
@@ -22,7 +22,7 @@
     See the License for the specific language governing permissions and
     limitations under the License.
   </license>
-  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.0.0/index.html</url>
+  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.1.0/index.html</url>
   <url type="Forums">https://forums.developer.nvidia.com/c/omniverse/simulation/69</url>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
diff --git a/humble_ws/src/humanoid_locomotion_policy_example/h1_fullbody_controller/package.xml b/humble_ws/src/humanoid_locomotion_policy_example/h1_fullbody_controller/package.xml
@@ -26,7 +26,7 @@
     See the License for the specific language governing permissions and
     limitations under the License.
   </license>  
-  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.0.0/index.html</url>
+  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.1.0/index.html</url>
   <url type="Forums">https://forums.developer.nvidia.com/c/omniverse/simulation/69</url>
   
   <buildtool_depend>ament_cmake</buildtool_depend>
diff --git a/humble_ws/src/isaac_ros2_messages/package.xml b/humble_ws/src/isaac_ros2_messages/package.xml
@@ -22,7 +22,7 @@
     See the License for the specific language governing permissions and
     limitations under the License.
   </license>
-  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.0.0/index.html</url>
+  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.1.0/index.html</url>
   <url type="Forums">https://forums.developer.nvidia.com/c/omniverse/simulation/69</url>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
diff --git a/humble_ws/src/isaac_tutorials/package.xml b/humble_ws/src/isaac_tutorials/package.xml
@@ -25,7 +25,7 @@
     See the License for the specific language governing permissions and
     limitations under the License.
   </license>
-  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.0.0/index.html</url>
+  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.1.0/index.html</url>
   <url type="Forums">https://forums.developer.nvidia.com/c/omniverse/simulation/69</url>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
diff --git a/humble_ws/src/isaacsim/launch/run_isaacsim.launch.py b/humble_ws/src/isaacsim/launch/run_isaacsim.launch.py
@@ -24,7 +24,7 @@
 
 # Declare all launch arguments corresponding to the bash script options
 launch_args = [
-    DeclareLaunchArgument('version', default_value='5.0.0', 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.'),
+    DeclareLaunchArgument('version', default_value='5.1.0', 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.'),
     
     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)'),
     
diff --git a/humble_ws/src/isaacsim/package.xml b/humble_ws/src/isaacsim/package.xml
@@ -26,7 +26,7 @@
     limitations under the License.
   </license>
   
-  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.0.0/index.html</url>
+  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.1.0/index.html</url>
   <url type="Forums">https://forums.developer.nvidia.com/c/omniverse/simulation/69</url>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
diff --git a/humble_ws/src/isaacsim/scripts/run_isaacsim.py b/humble_ws/src/isaacsim/scripts/run_isaacsim.py
@@ -27,7 +27,7 @@
 
 # Default values
 defaults = {
-    "isaac_sim_version": "5.0.0",
+    "isaac_sim_version": "5.1.0",
     "isaac_sim_path": "",
     "use_internal_libs": True,
     "dds_type": "fastdds",
diff --git a/humble_ws/src/moveit/isaac_moveit/package.xml b/humble_ws/src/moveit/isaac_moveit/package.xml
@@ -26,7 +26,7 @@
     limitations under the License.
   </license>
   
-  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.0.0/index.html</url>
+  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.1.0/index.html</url>
   <url type="Forums">https://forums.developer.nvidia.com/c/omniverse/simulation/69</url>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
diff --git a/humble_ws/src/navigation/carter_navigation/launch/carter_navigation_isaacsim.launch.py b/humble_ws/src/navigation/carter_navigation/launch/carter_navigation_isaacsim.launch.py
@@ -74,7 +74,7 @@ def execute_second_node_if_condition_met(event, second_node_action):
     return LaunchDescription(
         [
             # Declaring the Isaac Sim scene path. 'gui' launch argument is already used withing run_isaac_sim.launch.py
-            DeclareLaunchArgument("gui", default_value='https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Samples/ROS2/Scenario/carter_warehouse_navigation.usd', description="Path to isaac sim scene"),
+            DeclareLaunchArgument("gui", default_value='https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Samples/ROS2/Scenario/carter_warehouse_navigation.usd', description="Path to isaac sim scene"),
 
             # Include Isaac Sim launch file from isaacsim package with given launch parameters.
             IncludeLaunchDescription(
@@ -84,7 +84,7 @@ def execute_second_node_if_condition_met(event, second_node_action):
                     ]
                 ),
                 launch_arguments={
-                    'version': '5.0.0',
+                    'version': '5.1.0',
                     'play_sim_on_start': 'true',
                 }.items(),
             ),
diff --git a/humble_ws/src/navigation/carter_navigation/launch/multiple_robot_carter_navigation_hospital.launch.py b/humble_ws/src/navigation/carter_navigation/launch/multiple_robot_carter_navigation_hospital.launch.py
@@ -13,13 +13,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""
-Example for spawing multiple robots in Gazebo.
-
-This is an example on how to create a launch file for spawning multiple robots into Gazebo
-and launch multiple instances of the navigation stack, each controlling one robot.
-The robots co-exist on a shared environment and are controlled by independent nav stacks
-"""
 
 import os
 
diff --git a/humble_ws/src/navigation/carter_navigation/launch/multiple_robot_carter_navigation_office.launch.py b/humble_ws/src/navigation/carter_navigation/launch/multiple_robot_carter_navigation_office.launch.py
@@ -13,13 +13,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""
-Example for spawing multiple robots in Gazebo.
-
-This is an example on how to create a launch file for spawning multiple robots into Gazebo
-and launch multiple instances of the navigation stack, each controlling one robot.
-The robots co-exist on a shared environment and are controlled by independent nav stacks
-"""
 
 import os
 
diff --git a/humble_ws/src/navigation/carter_navigation/package.xml b/humble_ws/src/navigation/carter_navigation/package.xml
@@ -25,7 +25,7 @@
     See the License for the specific language governing permissions and
     limitations under the License.
   </license>
-  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.0.0/index.html</url>
+  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.1.0/index.html</url>
   <url type="Forums">https://forums.developer.nvidia.com/c/omniverse/simulation/69</url>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
diff --git a/humble_ws/src/navigation/isaac_ros_navigation_goal/isaac_ros_navigation_goal/set_goal.py b/humble_ws/src/navigation/isaac_ros_navigation_goal/isaac_ros_navigation_goal/set_goal.py
@@ -162,7 +162,7 @@ def __get_result_callback(self, future):
         """
         # Nav2 is sending empty message for success as well as for failure.
         result = future.result().result
-        self.get_logger().info("Result: {0}".format(result.result))
+        self.get_logger().info("Result: {0}".format(result))
 
         if self.curr_iteration_count < self.MAX_ITERATION_COUNT:
             self.curr_iteration_count += 1
diff --git a/humble_ws/src/navigation/isaac_ros_navigation_goal/package.xml b/humble_ws/src/navigation/isaac_ros_navigation_goal/package.xml
@@ -23,7 +23,7 @@
     See the License for the specific language governing permissions and
     limitations under the License.
   </license>
-  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.0.0/index.html</url>
+  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.1.0/index.html</url>
   <url type="Forums">https://forums.developer.nvidia.com/c/omniverse/simulation/69</url>
   <url type="Website">https://developer.nvidia.com/isaac-ros-gems/</url>
 
diff --git a/humble_ws/src/navigation/iw_hub_navigation/launch/iw_hub_navigation_isaacsim.launch.py b/humble_ws/src/navigation/iw_hub_navigation/launch/iw_hub_navigation_isaacsim.launch.py
@@ -74,7 +74,7 @@ def execute_second_node_if_condition_met(event, second_node_action):
     return LaunchDescription(
         [
             # Declaring the Isaac Sim scene path. 'gui' launch argument is already used withing run_isaac_sim.launch.py
-            DeclareLaunchArgument("gui", default_value='https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Samples/ROS2/Scenario/iw_hub_warehouse_navigation.usd', description="Path to isaac sim scene"),
+            DeclareLaunchArgument("gui", default_value='https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Samples/ROS2/Scenario/iw_hub_warehouse_navigation.usd', description="Path to isaac sim scene"),
 
             # Include Isaac Sim launch file from isaacsim package with given launch parameters.
             IncludeLaunchDescription(
@@ -84,7 +84,7 @@ def execute_second_node_if_condition_met(event, second_node_action):
                     ]
                 ),
                 launch_arguments={
-                    'version': '5.0.0',
+                    'version': '5.1.0',
                     'play_sim_on_start': 'true',
                 }.items(),
             ),
diff --git a/humble_ws/src/navigation/iw_hub_navigation/package.xml b/humble_ws/src/navigation/iw_hub_navigation/package.xml
@@ -25,7 +25,7 @@
     See the License for the specific language governing permissions and
     limitations under the License.
   </license>
-  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.0.0/index.html</url>
+  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.1.0/index.html</url>
   <url type="Forums">https://forums.developer.nvidia.com/c/omniverse/simulation/69</url>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
diff --git a/jazzy_ws/src/ackermann_control/cmdvel_to_ackermann/package.xml b/jazzy_ws/src/ackermann_control/cmdvel_to_ackermann/package.xml
@@ -22,7 +22,7 @@
     See the License for the specific language governing permissions and
     limitations under the License.
   </license>  
-  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.0.0/index.html</url>
+  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.1.0/index.html</url>
   <url type="Forums">https://forums.developer.nvidia.com/c/omniverse/simulation/69</url>
   
   <buildtool_depend>ament_cmake</buildtool_depend>
diff --git a/jazzy_ws/src/custom_message/package.xml b/jazzy_ws/src/custom_message/package.xml
@@ -22,7 +22,7 @@
     See the License for the specific language governing permissions and
     limitations under the License.
   </license>
-  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.0.0/index.html</url>
+  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.1.0/index.html</url>
   <url type="Forums">https://forums.developer.nvidia.com/c/omniverse/simulation/69</url>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
diff --git a/jazzy_ws/src/humanoid_locomotion_policy_example/h1_fullbody_controller/package.xml b/jazzy_ws/src/humanoid_locomotion_policy_example/h1_fullbody_controller/package.xml
@@ -26,7 +26,7 @@
     See the License for the specific language governing permissions and
     limitations under the License.
   </license>  
-  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.0.0/index.html</url>
+  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.1.0/index.html</url>
   <url type="Forums">https://forums.developer.nvidia.com/c/omniverse/simulation/69</url>
   
   <buildtool_depend>ament_cmake</buildtool_depend>
diff --git a/jazzy_ws/src/isaac_ros2_messages/package.xml b/jazzy_ws/src/isaac_ros2_messages/package.xml
@@ -22,7 +22,7 @@
     See the License for the specific language governing permissions and
     limitations under the License.
   </license>
-  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.0.0/index.html</url>
+  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.1.0/index.html</url>
   <url type="Forums">https://forums.developer.nvidia.com/c/omniverse/simulation/69</url>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
diff --git a/jazzy_ws/src/isaac_tutorials/package.xml b/jazzy_ws/src/isaac_tutorials/package.xml
@@ -26,7 +26,7 @@
     limitations under the License.
   </license>
   
-  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.0.0/index.html</url>
+  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.1.0/index.html</url>
   <url type="Forums">https://forums.developer.nvidia.com/c/omniverse/simulation/69</url>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
diff --git a/jazzy_ws/src/isaacsim/launch/run_isaacsim.launch.py b/jazzy_ws/src/isaacsim/launch/run_isaacsim.launch.py
@@ -24,7 +24,7 @@
 
 # Declare all launch arguments corresponding to the bash script options
 launch_args = [
-    DeclareLaunchArgument('version', default_value='5.0.0', 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.'),
+    DeclareLaunchArgument('version', default_value='5.1.0', 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.'),
     
     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)'),
     
diff --git a/jazzy_ws/src/isaacsim/package.xml b/jazzy_ws/src/isaacsim/package.xml
@@ -25,7 +25,7 @@
     See the License for the specific language governing permissions and
     limitations under the License.
   </license>
-  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.0.0/index.html</url>
+  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.1.0/index.html</url>
   <url type="Forums">https://forums.developer.nvidia.com/c/omniverse/simulation/69</url>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
diff --git a/jazzy_ws/src/isaacsim/scripts/run_isaacsim.py b/jazzy_ws/src/isaacsim/scripts/run_isaacsim.py
@@ -27,7 +27,7 @@
 
 # Default values
 defaults = {
-    "isaac_sim_version": "5.0.0",
+    "isaac_sim_version": "5.1.0",
     "isaac_sim_path": "",
     "use_internal_libs": True,
     "dds_type": "fastdds",
diff --git a/jazzy_ws/src/moveit/isaac_moveit/package.xml b/jazzy_ws/src/moveit/isaac_moveit/package.xml
@@ -26,7 +26,7 @@
     limitations under the License.
   </license>
   
-  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.0.0/index.html</url>
+  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.1.0/index.html</url>
   <url type="Forums">https://forums.developer.nvidia.com/c/omniverse/simulation/69</url>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
diff --git a/jazzy_ws/src/navigation/carter_navigation/launch/carter_navigation_isaacsim.launch.py b/jazzy_ws/src/navigation/carter_navigation/launch/carter_navigation_isaacsim.launch.py
@@ -74,7 +74,7 @@ def execute_second_node_if_condition_met(event, second_node_action):
     return LaunchDescription(
         [
             # Declaring the Isaac Sim scene path. 'gui' launch argument is already used withing run_isaac_sim.launch.py
-            DeclareLaunchArgument("gui", default_value='https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Samples/ROS2/Scenario/carter_warehouse_navigation.usd', description="Path to isaac sim scene"),
+            DeclareLaunchArgument("gui", default_value='https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Samples/ROS2/Scenario/carter_warehouse_navigation.usd', description="Path to isaac sim scene"),
 
             # Include Isaac Sim launch file from isaacsim package with given launch parameters.
             IncludeLaunchDescription(
@@ -84,7 +84,7 @@ def execute_second_node_if_condition_met(event, second_node_action):
                     ]
                 ),
                 launch_arguments={
-                    'version': '5.0.0',
+                    'version': '5.1.0',
                     'play_sim_on_start': 'True',
                 }.items(),
             ),
diff --git a/jazzy_ws/src/navigation/carter_navigation/launch/multiple_robot_carter_navigation_hospital.launch.py b/jazzy_ws/src/navigation/carter_navigation/launch/multiple_robot_carter_navigation_hospital.launch.py
@@ -13,13 +13,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""
-Example for spawing multiple robots in Gazebo.
-
-This is an example on how to create a launch file for spawning multiple robots into Gazebo
-and launch multiple instances of the navigation stack, each controlling one robot.
-The robots co-exist on a shared environment and are controlled by independent nav stacks
-"""
 
 import os
 
diff --git a/jazzy_ws/src/navigation/carter_navigation/launch/multiple_robot_carter_navigation_office.launch.py b/jazzy_ws/src/navigation/carter_navigation/launch/multiple_robot_carter_navigation_office.launch.py
@@ -13,13 +13,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""
-Example for spawing multiple robots in Gazebo.
-
-This is an example on how to create a launch file for spawning multiple robots into Gazebo
-and launch multiple instances of the navigation stack, each controlling one robot.
-The robots co-exist on a shared environment and are controlled by independent nav stacks
-"""
 
 import os
 
diff --git a/jazzy_ws/src/navigation/carter_navigation/package.xml b/jazzy_ws/src/navigation/carter_navigation/package.xml
@@ -25,7 +25,7 @@
     See the License for the specific language governing permissions and
     limitations under the License.
   </license>
-  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.0.0/index.html</url>
+  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.1.0/index.html</url>
   <url type="Forums">https://forums.developer.nvidia.com/c/omniverse/simulation/69</url>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
diff --git a/jazzy_ws/src/navigation/isaac_ros_navigation_goal/isaac_ros_navigation_goal/set_goal.py b/jazzy_ws/src/navigation/isaac_ros_navigation_goal/isaac_ros_navigation_goal/set_goal.py
@@ -162,7 +162,7 @@ def __get_result_callback(self, future):
         """
         # Nav2 is sending empty message for success as well as for failure.
         result = future.result().result
-        self.get_logger().info("Result: {0}".format(result.result))
+        self.get_logger().info("Result: {0}".format(result))
 
         if self.curr_iteration_count < self.MAX_ITERATION_COUNT:
             self.curr_iteration_count += 1
diff --git a/jazzy_ws/src/navigation/isaac_ros_navigation_goal/package.xml b/jazzy_ws/src/navigation/isaac_ros_navigation_goal/package.xml
@@ -23,7 +23,7 @@
     See the License for the specific language governing permissions and
     limitations under the License.
   </license>
-  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.0.0/index.html</url>
+  <url type="Documentation">https://docs.isaacsim.omniverse.nvidia.com/5.1.0/index.html</url>
   <url type="Forums">https://forums.developer.nvidia.com/c/omniverse/simulation/69</url>
   <url type="Website">https://developer.nvidia.com/isaac-ros-gems/</url>
 
diff --git a/jazzy_ws/src/navigation/iw_hub_navigation/launch/iw_hub_navigation_isaacsim.launch.py b/jazzy_ws/src/navigation/iw_hub_navigation/launch/iw_hub_navigation_isaacsim.launch.py
@@ -74,7 +74,7 @@ def execute_second_node_if_condition_met(event, second_node_action):
     return LaunchDescription(
         [
             # Declaring the Isaac Sim scene path. 'gui' launch argument is already used withing run_isaac_sim.launch.py
-            DeclareLaunchArgument("gui", default_value='https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Samples/ROS2/Scenario/iw_hub_warehouse_navigation.usd', description="Path to isaac sim scene"),
+            DeclareLaunchArgument("gui", default_value='https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Samples/ROS2/Scenario/iw_hub_warehouse_navigation.usd', description="Path to isaac sim scene"),
 
             # Include Isaac Sim launch file from isaacsim package with given launch parameters.
             IncludeLaunchDescription(
@@ -84,7 +84,7 @@ def execute_second_node_if_condition_met(event, second_node_action):
                     ]
                 ),
                 launch_arguments={
-                    'version': '5.0.0',
+                    'version': '5.1.0',
                     'play_sim_on_start': 'True',
                 }.items(),
             ),
diff --git a/jazzy_ws/src/navigation/iw_hub_navigation/package.xml b/jazzy_ws/src/navigation/iw_hub_navigation/package.xml
