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Updates for Isaac Sim 5.0.0
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‎.gitignore‎

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noetic_ws/build
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noetic_ws/devel
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foxy_ws/build
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foxy_ws/install
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foxy_ws/log
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humble_ws/build
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humble_ws/install
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humble_ws/log
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humble_ws/log
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jazzy_ws/build
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jazzy_ws/install
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jazzy_ws/log
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build_ws/jazzy
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build_ws/humble

‎.gitmodules‎

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[submodule "humble_ws/src/moveit/moveit_resources"]
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path = humble_ws/src/moveit/moveit_resources
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url = https://github.com/ayushgnv/moveit_resources.git
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branch = isaacsim_moveit_tutorial
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[submodule "jazzy_ws/src/moveit/moveit_resources"]
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path = jazzy_ws/src/moveit/moveit_resources
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url = https://github.com/ayushgnv/moveit_resources.git
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branch = isaacsim_moveit_tutorial

‎CHANGELOG.md‎

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# Changelog
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## [4.3.1] - 2025-06-11
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### Changed
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- Bumped versions in `isaacsim` package to Isaac Sim version 5.0.0 [Humble, Jazzy]
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- Updated all asset paths referenced in ROS 2 packages to Isaac Sim 5.0 convention
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## [4.3.0] - 2025-06-04
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### Added
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- Humanoid locomotion policy example [Humble, Jazzy]
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## [4.2.1] - 2025-06-03
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### Changed
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- Updating the H1 joint names in the wholebody controller package [Humble]
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## [4.2.0] - 2025-05-30
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### Added
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- Launch file in carter_navigation for running the nova carter robot description [Humble, Jazzy]
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## [4.1.0] - 2025-05-20
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### Added
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- Build scripts for Humble and Jazzy workspaces in Python 3.11 [Humble, Jazzy]
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## [4.0.0] - 2025-04-30
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### Added
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- New Jazzy workspace for Isaac Sim 5.0 [Jazzy]
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- New Moveit tutorial [Jazzy, Humble]
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### Changed
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- Bumped verison to Isaac Sim 5.0 [Humble]
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### Removed
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- Removed all Noetic packages and dockerfiles [Noetic]
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## [3.3.1] - 2025-01-24
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‎README.md‎

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# Isaac Sim ROS & ROS2 Workspaces
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This repository contains two workspaces: `noetic_ws` (ROS Noetic) and `humble_ws` (ROS2 Humble).
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This repository contains two workspaces: `humble_ws` (ROS2 Humble) and `jazzy_ws` (ROS2 Jazzy).
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[Click here for usage and installation instructions with Isaac Sim](https://docs.isaacsim.omniverse.nvidia.com/4.5.0/installation/install_ros.html)
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[Click here for usage and installation instructions with Isaac Sim](https://docs.isaacsim.omniverse.nvidia.com/5.0.0/index.html)
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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/4.5.0/installation/install_ros.html#setting-up-workspaces) for building your specific workspace.
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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.

‎build_humble.sh‎

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‎build_ros.sh‎

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#!/bin/bash
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set -e
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SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
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# Display help function
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function display_help {
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echo "Usage: $0 [options]"
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echo ""
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echo "Build the ROS2 workspace using Docker."
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echo ""
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echo "Options:"
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echo " -d DISTRO Specify ROS2 distro (humble or jazzy)"
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echo " -v VERSION Specify Ubuntu version (22.04 or 24.04)"
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echo " -h Display this help message"
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echo ""
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echo "Supported combinations:"
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echo " - humble: Ubuntu 22.04"
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echo " - jazzy: Ubuntu 22.04 or 24.04"
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echo ""
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echo "If no options are specified, the script will detect your current Ubuntu version"
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echo "and select: Ubuntu 22.04 -> Humble, Ubuntu 24.04 -> Jazzy"
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}
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# Add command-line arguments
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UBUNTU_VERSION=""
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ROS_DISTRO=""
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while getopts "v:d:h" opt; do
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case $opt in
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v) UBUNTU_VERSION=$OPTARG ;;
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d) ROS_DISTRO=$OPTARG ;;
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h) display_help; exit 0 ;;
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\?) echo "Invalid option -$OPTARG" >&2; display_help; exit 1 ;;
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esac
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done
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# Update git submodules in the repo
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echo "Updating git submodules..."
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git submodule update --init --recursive
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# Detect Ubuntu version if not specified through flag
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if [ -z "$UBUNTU_VERSION" ]; then
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echo "No Ubuntu version specified, detecting from system..."
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if [ -f /etc/os-release ]; then
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. /etc/os-release
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UBUNTU_VERSION=${VERSION_ID}
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echo "Detected Ubuntu version: $UBUNTU_VERSION"
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else
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echo "Cannot detect Ubuntu version"
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exit 1
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fi
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fi
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# Set default ROS distro based on Ubuntu version if not specified
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if [ -z "$ROS_DISTRO" ]; then
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if [ "$UBUNTU_VERSION" = "22.04" ]; then
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ROS_DISTRO="humble"
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elif [ "$UBUNTU_VERSION" = "24.04" ]; then
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ROS_DISTRO="jazzy"
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else
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echo "Unsupported Ubuntu version: $UBUNTU_VERSION"
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echo "Supported versions are: 22.04, 24.04"
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exit 1
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fi
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echo "No ROS distro specified, defaulting to $ROS_DISTRO based on Ubuntu version"
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fi
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# Validate the combination of Ubuntu version and ROS distro
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if [ "$ROS_DISTRO" = "humble" ] && [ "$UBUNTU_VERSION" != "22.04" ]; then
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echo "Error: ROS Humble is only supported on Ubuntu 22.04"
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exit 1
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fi
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if [ "$ROS_DISTRO" = "jazzy" ] && [ "$UBUNTU_VERSION" != "22.04" ] && [ "$UBUNTU_VERSION" != "24.04" ]; then
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echo "Error: ROS Jazzy is only supported on Ubuntu 22.04 or 24.04"
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exit 1
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fi
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# Select the appropriate Docker file
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if [ "$ROS_DISTRO" = "humble" ]; then
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DOCKERFILE="dockerfiles/ubuntu_22_humble_python_311_minimal.dockerfile"
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echo "Using Ubuntu 22.04 with ROS Humble"
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elif [ "$ROS_DISTRO" = "jazzy" ]; then
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if [ "$UBUNTU_VERSION" = "22.04" ]; then
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DOCKERFILE="dockerfiles/ubuntu_22_jazzy_python_311_minimal.dockerfile"
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echo "Using Ubuntu 22.04 with ROS Jazzy"
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elif [ "$UBUNTU_VERSION" = "24.04" ]; then
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DOCKERFILE="dockerfiles/ubuntu_24_jazzy_python_311_minimal.dockerfile"
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echo "Using Ubuntu 24.04 with ROS Jazzy"
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fi
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else
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echo "Unsupported ROS distro: $ROS_DISTRO"
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echo "Supported distros are: humble, jazzy"
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exit 1
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fi
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# Build the Docker image
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docker build . --network=host -f $DOCKERFILE -t isaac_sim_ros:ubuntu_${UBUNTU_VERSION%.*}_${ROS_DISTRO}
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# Prepare the target directory
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rm -rf build_ws/${ROS_DISTRO}
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mkdir -p build_ws/${ROS_DISTRO}
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pushd build_ws/${ROS_DISTRO}
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# Extract files from Docker container
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docker cp $(docker create --rm isaac_sim_ros:ubuntu_${UBUNTU_VERSION%.*}_${ROS_DISTRO}):/workspace/${ROS_DISTRO}_ws ${ROS_DISTRO}_ws
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docker cp $(docker create --rm isaac_sim_ros:ubuntu_${UBUNTU_VERSION%.*}_${ROS_DISTRO}):/workspace/build_ws isaac_sim_ros_ws
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popd
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echo "Build complete for $ROS_DISTRO on Ubuntu $UBUNTU_VERSION"

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