Adir Simulation

This repository uses NVIDIA's Isaac Sim for simulating the Adir robot.

Prerequisites

• Docker
• NVIDIA Container Toolkit
• NVIDIA GPU with drivers installed
• NGC account
• ROS2 (Optional)

Steps to Login to Docker at nvcr.io

1. Create an NGC API Key:
   • Go to the NGC website.
   • Log in with your NGC account.
   • Navigate to the "Setup" page.
   • Click on "Get API Key" and generate a new key.
2. Login to Docker:
   • Open a terminal.
   • Run the following command to log in to the NVIDIA container registry:
   • When prompted, enter your NGC username and the API key as the password.

Running the Simulation

Clone and Navigate to the project directory:

git clone https://github.com/AntRobotics-de/adir_simulation.git
cd adir_simulation

with Docker (Recommended)

Run the Docker script:

./run_simulation_docker.sh

Running the Simulation Locally

1. Edit the run_simulation_local.sh script:

   • Open the script in a text editor:

     nano run_simulation_local.sh

   • Update the ISAAC_SIM_HOME_DIR variable to the correct location of Isaac Sim on your system:

     set_default ISAAC_SIM_HOME_DIR "/path/to/your/isaac-sim"

     Note: Replace /path/to/your/isaac-sim with the actual path where Isaac Sim is installed on your system.

2. Run the local script:

   ./run_simulation_local.sh

ROS2 Topics

The following ROS2 topics are used in the Adir simulation:

Publishers

• /adir/front/livox/lidar (sensor_msgs/PointCloud2): Front LiDAR sensor data.
• /adir/imu (sensor_msgs/Imu): IMU sensor data.
• /adir/odom (nav_msgs/Odometry): Odometry data.
• /adir/rear/livox/lidar (sensor_msgs/PointCloud2): Rear LiDAR sensor data.
• /clock (rosgraph_msgs/Clock): Simulation clock.
• /tf (tf2_msgs/TFMessage): Transform data.
• /tf_static (tf2_msgs/TFMessage): Static transform data.

Subscribers

• /cmd_vel (geometry_msgs/Twist): Command velocity for controlling the robot.