Skip to content

Latest commit

 

History

History
155 lines (135 loc) · 4.74 KB

04_articulated_arm_issacsim_to_ignition.md

File metadata and controls

155 lines (135 loc) · 4.74 KB

Articulated arm connection from Isaac Sim to Ignition

In this tutorial we well explain how to use the connector from Issac Sim to Ignition

Prerequisites

Convert USD to SDF

If sdformat is built with USD support, there should be a usd2sdf cli program.

SDF to USD converter
Usage: sdf2usd [OPTIONS] [input] [output]

Positionals:
  input TEXT                  Input filename. Defaults to input.sdf unless otherwise specified.
  output TEXT                 Output filename. Defaults to output.usd unless otherwise specified.

Options:
  -h,--help                   Print this help message and exit
  --help-all                  Show all help
  --version
  • Convert the Panda Franka Emika robot to USD. Create the following file panda.sdf:
<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="fuel">
    <physics name="1ms" type="ignored">
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1.0</real_time_factor>
    </physics>

    <scene>
      <ambient>1.0 1.0 1.0 1.0</ambient>
      <background>0.8 0.8 0.8 1.0</background>
      <grid>false</grid>
      <origin_visual>false</origin_visual>
    </scene>

    <plugin
      filename="ignition-gazebo-physics-system"
      name="ignition::gazebo::systems::Physics">
    </plugin>
    <plugin
      filename="ignition-gazebo-sensors-system"
      name="ignition::gazebo::systems::Sensors">
      <render_engine>ogre2</render_engine>
    </plugin>
    <plugin
      filename="ignition-gazebo-user-commands-system"
      name="ignition::gazebo::systems::UserCommands">
    </plugin>
    <plugin
      filename="ignition-gazebo-scene-broadcaster-system"
      name="ignition::gazebo::systems::SceneBroadcaster">
    </plugin>

    <light type="directional" name="sun">
      <cast_shadows>true</cast_shadows>
      <pose>0 0 10 0 0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.1 -0.9</direction>
    </light>
    <include>
      <name>panda</name>
      <pose>0 0 0 0 0 0</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Panda with Ignition position controller model</uri>
    </include>
    <model name="ground_plane">
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <ambient>0.8 0.8 0.8 1</ambient>
            <diffuse>0.8 0.8 0.8 1</diffuse>
            <specular>0.8 0.8 0.8 1</specular>
          </material>
        </visual>
      </link>
    </model>
  </world>
</sdf>
  • Download the panda model from fuel:
ign fuel download --url  "https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Panda with Ignition position controller model"
  • Run the converter:
sdf2usd /panda.sdf panda.usd

  • Copy the file in this path omniverse://localhost/Users/ignition/panda.usd:

  • Load the model in Issac Sim and activate the live sync

  • Configure the ROS Plugins:

    • Add ROS Clock plugin
    • Add ROS joint state
      • Configure articulationPrim to /fuel/panda

  • Launch the simulation in Ignition Gazebo:

ign gazebo panda.sdf -v 4 -r
  • Launch the connector:
source ~/ign-omni/install/setup.bash
cd ~/ign-omni/src/ign-omni
bash run_ignition_omni.sh -p omniverse://localhost/Users/ignition/panda.usd -w fuel --pose ignition
  • Right now Issac Sim does not provide the joint angle, but this data is provided in ROS. You should launch a ROS -> Ignition bridge:
rosrun ros_ign_bridge parameter_bridge /joint_states@sensor_msgs/JointState]ignition.msgs.Model
  • Then you can move the robot. There is a workspace available here .local/share/ov/pkg/isaac_sim-2021.2.1/ros_workspace/ that you need to compile it and run:
rosrun isaac_moveit franka_isaac_execution.launch