added usd for isaac-sim

README.md

@@ -4,12 +4,13 @@ https://github.com/blackcoffeerobotics/bcr_bot/assets/13151010/0fc570a3-c70c-415
 
 ## About
 
-This repository contains a Gazebo simulation for a differential drive robot, equipped with an IMU, a depth camera, stereo camera and a 2D LiDAR. The primary contriution of this project is to support multiple ROS and Gazebo distros. Currently, the project supports the following versions - 
+This repository contains a Gazebo and Isaac Sim simulation for a differential drive robot, equipped with an IMU, a depth camera, stereo camera and a 2D LiDAR. The primary contriution of this project is to support multiple ROS and Gazebo distros. Currently, the project supports the following versions - 
 
 1. [ROS Noetic + Gazebo Classic 11 (branch ros1)](#noetic--classic-ubuntu-2004)
 2. [ROS2 Humble + Gazebo Classic 11 (branch ros2)](#humble--classic-ubuntu-2204)
 3. [ROS2 Humble + Gazebo Fortress (branch ros2)](#humble--fortress-ubuntu-2204)
 4. [ROS2 Humble + Gazebo Harmonic (branch ros2)](#humble--harmonic-ubuntu-2204)
+5. [ROS2 Humble + Isaac Sim (branch ros2)](#humble--isaac-sim-ubuntu-2204)
 
 Each of the following sections describes depedencies, build and run instructions for each of the above combinations
 
@@ -238,6 +239,35 @@ ros2 launch stereo_image_proc stereo_image_proc.launch.py left_namespace:=bcr_bo
 
 **Warning:**  `gz-harmonic` cannot be installed alongside gazebo-classic (eg. gazebo11) since both use the `gz` command line tool.
 
+### Humble + Isaac Sim (Ubuntu 22.04)
+
+### Dependencies
+
+In addition to ROS2 Humble [Isaac Sim installation](https://docs.omniverse.nvidia.com/isaacsim/latest/installation/index.html) with ROS2 extension is required. Remainder of bcr_bot specific dependencies can be installed with [rosdep](http://wiki.ros.org/rosdep)
+
+```bash
+# From the root directory of the workspace. This will install everything mentioned in package.xml
+rosdep install --from-paths src --ignore-src -r -y
+```
+
+### Build
+
+```bash
+colcon build --packages-select bcr_bot
+```
+
+### Run
+
+To launch the robot in Isaac Sim:
+- Open Isaac Sim and load the `bcr_bot` robot usd model from [here](usd). 
+- Start the Simulation: Run the simulation directly within Isaac Sim.
+
+To view in rviz:
+```bash
+ros2 launch bcr_bot rviz.launch.py isaac_sim:=True
+```
+NOTE: The command to run mapping and navigation is common between all versions of gazebo and Isaac sim see [here](#mapping-with-slam-toolbox).
+
 ### Mapping with SLAM Toolbox
 
 SLAM Toolbox is an open-source package designed to map the environment using laser scans and odometry, generating a map for autonomous navigation.
@@ -264,17 +294,19 @@ ros2 run nav2_map_server map_saver_cli -f bcr_map
 
 Nav2 is an open-source navigation package that enables a robot to navigate through an environment easily. It takes laser scan and odometry data, along with the map of the environment, as inputs.
 
-NOTE: The command to run navigation is common between all versions of gazebo.
+NOTE: The command to run navigation is common between all versions of gazebo and Isaac sim.
 
 To run Nav2 on bcr_bot:
 ```bash
 ros2 launch bcr_bot nav2.launch.py
 ```
 
-
 ### Simulation and Visualization
 1. Gz Sim (Ignition Gazebo) (small_warehouse World):
 	![](res/gz.jpg)
 
-2. Rviz (Depth camera) (small_warehouse World):
+2. Isaac Sim:
+	![](res/isaac.jpg) 
+
+3. Rviz (Depth camera) (small_warehouse World):
 	![](res/rviz.jpg)

launch/rviz.launch.py

@@ -1,45 +1,63 @@
 #!/usr/bin/env python3
-
 import os
 import xacro
-
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.substitutions import LaunchConfiguration
-
 from launch_ros.actions import Node
-from launch.actions import DeclareLaunchArgument
+from launch.actions import DeclareLaunchArgument, GroupAction
+from launch.conditions import IfCondition, UnlessCondition
 
 def get_xacro_to_doc(xacro_file_path, mappings):
-	doc = xacro.parse(open(xacro_file_path))
-	xacro.process_doc(doc, mappings=mappings)
-	return doc
+    doc = xacro.parse(open(xacro_file_path))
+    xacro.process_doc(doc, mappings=mappings)
+    return doc
 
 def generate_launch_description():
-
-	use_sim_time = LaunchConfiguration('use_sim_time', default='false')
-
-	xacro_path = os.path.join(get_package_share_directory('bcr_bot'), 'urdf', 'bcr_bot.xacro')
-	doc = get_xacro_to_doc(xacro_path, {"wheel_odom_topic": "odom"})
-
-	robot_state_publisher = Node(
-		package='robot_state_publisher', 
-		executable='robot_state_publisher', 
-		name='robot_state_publisher',
-		output='screen',
-		parameters=[{'use_sim_time': use_sim_time}, {'robot_description': doc.toxml()}]
-	)
-
-	rviz = Node(
-		package='rviz2',
-		executable='rviz2',
-		name='rviz2',
-		output='screen',
-		arguments=['-d', os.path.join(get_package_share_directory('bcr_bot'), 'rviz', 'entire_setup.rviz')]
-	)
-
-	return LaunchDescription([
-        DeclareLaunchArgument('use_sim_time', default_value='false'),
-        DeclareLaunchArgument('robot_description', default_value=doc.toxml()),
-        robot_state_publisher, rviz
+    # Launch configurations
+    use_sim_time = LaunchConfiguration('use_sim_time', default='false')
+    isaac_sim = LaunchConfiguration('isaac_sim')
+
+    # Process XACRO
+    xacro_path = os.path.join(get_package_share_directory('bcr_bot'), 'urdf', 'bcr_bot.xacro')
+    doc = get_xacro_to_doc(xacro_path, {"wheel_odom_topic": "odom"})
+
+    # Nodes
+    robot_state_publisher = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        output='screen',
+        parameters=[{'use_sim_time': use_sim_time}, {'robot_description': doc.toxml()}],
+        condition=UnlessCondition(isaac_sim)  # Only start if isaac_sim is false
+    )
+
+    rviz = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        output='screen',
+        arguments=['-d', os.path.join(get_package_share_directory('bcr_bot'), 'rviz', 'entire_setup.rviz')]
+    )
+
+    return LaunchDescription([
+        # Declare arguments
+        DeclareLaunchArgument(
+            'use_sim_time',
+            default_value='false',
+            description='Use simulation time if true'
+        ),
+        DeclareLaunchArgument(
+            'isaac_sim',
+            default_value='false',
+            description='Set to true when using Isaac Sim'
+        ),
+        DeclareLaunchArgument(
+            'robot_description',
+            default_value=doc.toxml(),
+            description='Robot description in URDF/XACRO format'
+        ),
+        # Nodes
+        robot_state_publisher,
+        rviz
     ])