isaac sim ros에서 workspace설정

1. git clone https://github.com/isaac-sim/IsaacSim-ros_workspaces.git

GitHub - isaac-sim/IsaacSim-ros_workspaces: Isaac Sim ROS Workspaces

 

 

2.  cd humble_ws

 

 

3. git submodule update --init --recursive 

 

 

4. rosdep install -i --from-path src --rosdistro humble -y

 

5. colcon build

 

 

6. 적용

source install/local_setup.bash

 

 

 

7. 

cd ~/IsaacSim-ros_workspaces

sudo usermod -aG docker $USER
newgrp docker

 

 

8. ./build_ros.sh -d humble -v 22.04

build_ws가 새로 생겼음을 확인

 

9. conda  create -n isaac python=3.11.*

 

 

10.

source build_ws/humble/humble_ws/install/local_setup.bash

source build_ws/humble/isaac_sim_ros_ws/install/local_setup.bash

 

---

 

https://docs.isaacsim.omniverse.nvidia.com/5.1.0/robot_setup_tutorials/tutorial_import_assemble_manipulator.html

Tutorial 6: Setup a Manipulator — Isaac Sim Documentation

 

 

1. git clone을 한다.

cd ~/IsaacSim-ros_workspaces

cd humble_ws

cd src

git clone https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git

 

2.  ./build_ros.sh를 해준다...

conda activate isaac
./build_ros.sh

 

 

3.

cd humble_ws
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build
source install/setup.sh