The ROS camera and Isaac Sim camera have different coordinates. A Visualization popup will appear.įor Rotate Image, select 180 degrees and for Coordinate Type select ROS Occupancy Map Parameters File (YAML). Once the setup is complete, click on CALCULATE followed by VISUALIZE IMAGE. Remove the Carter_ROS prim from the stage. The map parameters should now look similar to the following:Ī perimeter will be generated and it should resemble this Top View: The bounds of the occupancy map should be updated to incorporate the selected warehouse_with_forklifts prim. In the Occupancy Map extension, click on BOUND SELECTION. Select the warehouse_with_forklifts prim in the stage. Keep in mind, the upper bound Z distance has been set to 0.62 meters to match the vertical distance of the lidar onboard Carter with respect to the ground. In the Occupancy Map extension, ensure the Origin is set to X: 0.0, Y: 0.0, Z: 0.0. Go to Isaac Examples -> ROS -> Navigation to load the warehouse scenario.Īt the upper left corner of the viewport, click on Camera. ![]() To learn more about the Occupancy Map Generator extension click here. Using the Occupancy Map Generator extension (Recommended): Using the Occupancy Map Generator extension within Omniverse Isaac Sim (Recommended)ħ.1.8.3.2.1. In this scenario we will use an occupancy map. To start publishing, ensure enable_camera_right and enable_camera_right_depth branch nodes are enabledįinally, to ensure all external ROS nodes reference simulation time, a ROS_Clock graph is added which contains a ros1_publish_clock node responsible for publishing the simulation time to the /clock topic. The enable_camera_right_rgb branch node is already enabled by defaultĪuto-generates the Depth (32FC1) Image publisher for the /depth_right topic. To start publishing, ensure enable_camera_right is enabled. To start publishing, ensure the enable_camera_right branch node is enabledĪuto-generates the RGB Image publisher for the /rgb_right topic. To start publishing, ensure enable_camera_left and enable_camera_left_depth branch nodes are enabledĪuto-generates the CameraInfo publisher for the /camera_info_right topic. It automatically publishes since the enable_camera_left and enable_camera_left_rgb branch nodes are enabled by defaultĪuto-generates the Depth (32FC1) Image publisher for the /depth_left topic. It automatically publishes since the enable_camera_left branch node is enabled by defaultĪuto-generates the RGB Image publisher for the /rgb_left topic. The following ROS Camera OmniGraph nodes are setup to do the following:Īuto-generates the CameraInfo publisher for the /camera_info_left topic. Right click on ROS_Cameras and press Open Graph. Open the ROS_Cameras graph by expanding Carter_ROS. Publishes the 2D LaserScan received from the isaac_read_lidar_beams_node Publishes the static transform between the chassis_link frame and carter_lidar frame Keep in mind that since the target prim is set as Carter_ROS, the entire transform tree of the Carter robot (with chassis_link as root) will be published as children of the base_link frame Publishes the static transform between the base_link frame and chassis_link frame. Publishes the transform between the odom frame and base_link frame Publishes odometry received from the isaac_compute_odometry_node ![]() Subscribes to the /cmd_vel topic and triggers the differential and articulation controllers to the move the robot
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