Installation¶

Install ROS 2¶

Navigate to ROS 2 Installation Documentation to install ROS 2.

ROS 2 can be sourced before Isaac Sim is run, allowing Isaac Sim ROS2 bridge to load the ROS2 libraries of your system.

Enabling the ROS Bridge Extension¶

Create a file named fastdds.xml under ~/.ros/:

<?xml version="1.0" encoding="UTF-8" ?>

<license>Copyright (c) 2022-2024, NVIDIA CORPORATION.  All rights reserved.
NVIDIA CORPORATION and its licensors retain all intellectual property
and proprietary rights in and to this software, related documentation
and any modifications thereto.  Any use, reproduction, disclosure or
distribution of this software and related documentation without an express
license agreement from NVIDIA CORPORATION is strictly prohibited.</license>

<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" >
    <transport_descriptors>
        <transport_descriptor>
            <transport_id>UdpTransport</transport_id>
            <type>UDPv4</type>
        </transport_descriptor>
    </transport_descriptors>

    <participant profile_name="udp_transport_profile" is_default_profile="true">
        <rtps>
            <userTransports>
                <transport_id>UdpTransport</transport_id>
            </userTransports>
            <useBuiltinTransports>false</useBuiltinTransports>
        </rtps>
    </participant>
</profiles>

Run export FASTRTPS_DEFAULT_PROFILES_FILE=~/.ros/fastdds.xml in the terminals that will use ROS 2 functions . You must also set it under ~Extra Args" when launching Isaac Sim from the Nucleus Launcher.

Source your ROS 2 installation and workspace before launching Isaac Sim.

Btw, remember to install NUCLEUS using Add Local Nucleus Service.

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Enable Extension¶

Omniverse-launcher > Library > Isaac Sim > Window > Extensions > search ros*_bridge and enable one.

Next Step¶

To start using Omniverse Isaac Sim with ROS 2, complete the ROS 2 Tutorial series starting with URDF Import: Turtlebot