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Updates for Isaac Sim 4.0.0
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‎CHANGELOG.md‎

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# Changelog
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## [1.0.0] - 2024-05-28
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### Added
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- Ackermann publisher script for Ackermann Steering tutorial [Noetic, Foxy, Humble]
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- New `isaacsim` package to enable running Isaac Sim as a ROS2 node or from a ROS2 launch file! [Foxy, Humble]
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- `isaac_ros2_messages` service interfaces for listing prims and manipulate their attributes [Foxy, Humble]
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### Removed
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- Removed support for quadruped VINS Fusion example [Noetic]
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## [0.1.0] - 2023-12-18
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### Added
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- Noetic, Foxy, Humble workspaces for Isaac Sim 2023.1.1

‎foxy_ws/fastdds.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<license>Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved.
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<license>Copyright (c) 2024, NVIDIA CORPORATION. All rights reserved.
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NVIDIA CORPORATION and its licensors retain all intellectual property
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and proprietary rights in and to this software, related documentation
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and any modifications thereto. Any use, reproduction, disclosure or

‎foxy_ws/src/custom_message/package.xml‎

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<name>custom_message</name>
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<version>0.0.0</version>
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<description>Custom Message Sample Package</description>
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<maintainer email="[email protected]">isaac sim</maintainer>
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<license>TODO: License declaration</license>
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<maintainer email="[email protected]">Isaac Sim</maintainer>
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<license>Copyright (c) 2024, NVIDIA CORPORATION. All rights reserved.
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NVIDIA CORPORATION and its licensors retain all intellectual property
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and proprietary rights in and to this software, related documentation
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and any modifications thereto. Any use, reproduction, disclosure or
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distribution of this software and related documentation without an express
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license agreement from NVIDIA CORPORATION is strictly prohibited.</license>
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<url type="Documentation">https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html</url>
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<url type="Forums">https://forums.developer.nvidia.com/c/omniverse/simulation/69</url>
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<buildtool_depend>ament_cmake</buildtool_depend>
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‎foxy_ws/src/isaac_ros2_messages/CMakeLists.txt‎

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rosidl_generate_interfaces(${PROJECT_NAME}
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"srv/IsaacPose.srv"
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"srv/GetPrims.srv"
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"srv/GetPrimAttributes.srv"
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"srv/GetPrimAttribute.srv"
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"srv/SetPrimAttribute.srv"
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DEPENDENCIES builtin_interfaces std_msgs geometry_msgs
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)
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)
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ament_package()
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ament_package()

‎foxy_ws/src/isaac_ros2_messages/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>isaac_ros2_messages</name>
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<version>0.1.0</version>
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<version>0.2.0</version>
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<description>ROS2 messages for isaac ros2 bridge</description>
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<maintainer email="isaac-sim@todo.todo">isaac sim</maintainer>
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<maintainer email="isaac-sim[email protected]">Isaac Sim</maintainer>
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<license>Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved.
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<license>Copyright (c) 2024, NVIDIA CORPORATION. All rights reserved.
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NVIDIA CORPORATION and its licensors retain all intellectual property
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and proprietary rights in and to this software, related documentation
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and any modifications thereto. Any use, reproduction, disclosure or
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distribution of this software and related documentation without an express
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license agreement from NVIDIA CORPORATION is strictly prohibited.</license>
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<url type="Documentation">https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html</url>
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<url type="Forums">https://forums.developer.nvidia.com/c/agx-autonomous-machines/isaac/simulation</url>
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<url type="Forums">https://forums.developer.nvidia.com/c/omniverse/simulation/69</url>
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<buildtool_depend>ament_cmake</buildtool_depend>
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‎foxy_ws/src/isaac_ros2_messages/srv/GetPrimAttribute.srv‎

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string path # prim path
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string attribute # attribute name
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---
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string value # attribute value (as JSON)
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string type # attribute type
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bool success # indicate a successful execution of the service
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string message # informational, e.g. for error messages

‎foxy_ws/src/isaac_ros2_messages/srv/GetPrimAttributes.srv‎

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string path # prim path
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---
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string[] names # list of attribute base names (name used to Get or Set an attribute)
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string[] displays # list of attribute display names (name displayed in Property tab)
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string[] types # list of attribute data types
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bool success # indicate a successful execution of the service
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string message # informational, e.g. for error messages

‎foxy_ws/src/isaac_ros2_messages/srv/GetPrims.srv‎

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string path # get prims at path
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---
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string[] paths # list of prim paths
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string[] types # prim type names
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bool success # indicate a successful execution of the service
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string message # informational, e.g. for error messages

‎foxy_ws/src/isaac_ros2_messages/srv/SetPrimAttribute.srv‎

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string path # prim path
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string attribute # attribute name
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string value # attribute value (as JSON)
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---
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bool success # indicate a successful execution of the service
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string message # informational, e.g. for error messages

‎foxy_ws/src/isaac_tutorials/CMakeLists.txt‎

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# Install Python executables
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install(PROGRAMS
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scripts/ros2_publisher.py
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scripts/ros2_ackermann_publisher.py
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DESTINATION lib/${PROJECT_NAME}
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)
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ament_package()

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