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IsaacSim Setup

Some basic IsaacSim Setup and SLAM/Nav2 demo.

IsaacSim Setup

Simulator Navigation SLAM
IsaacSim Setup

Prerequisite

Official GeForce Drivers NVIDIA

ubuntu22.04安装nvidia驱动/CUDA/cudnn_

Cuda安装相关

  1. Nvidia Driver

    #卸载nvidia driver
sudo apt-get --purge remove "*nvidia*"
sudo apt autoremove
#安装指定版本driver
sudo add-apt-repository ppa:graphics-drivers/ppa  # 加入官方ppa源
sudo apt update  # 检查软件包更新列表
apt list --upgradable  # 查看可更新的软件包列表
sudo apt upgrade  # 更新所有可更新的软件包
#下载driver
ubuntu-drivers devices    # ubuntu检测n卡的可选驱动
sudo apt install nvidia-driver-5xx  # 根据自己的n卡可选驱动下载显卡驱动

  2. 下载cuda

    #下载链接https://developer.nvidia.com/cuda-toolkit-archive

  3. 切换cuda版本：

    #查看已安装的cuda
ls -l /usr/local | grep cuda
#打开环境变量
vim ~/.bashrc
#按i进入编辑模式，粘贴下方命令。Esc，输入:wq保存并退出
export PATH=/usr/local/cuda-12.6/bin:$PATH
export LD_LIBRARY_PATH=/usr/local/cuda-12.6/lib64:$LD_LIBRARY_PATH
export LIBRARY_PATH=/usr/local/cuda-12.6/lib64:$LIBRARY_PATH
#保存环境变量
source ~/.bashrc

  4. cuda卸载：

    cd /usr/local/cuda-xx.x/bin/
sudo ./cuda-uninstaller
sudo rm -rf /usr/local/cuda-xx.x

Docker 配置：

Container Installation — Isaac Sim Documentation

  1. Docker卸载

    sudo systemctl stop docker
sudo apt-get purge docker-ce docker-ce-cli containerd.io
sudo rm -rf /var/lib/docker
sudo rm -rf /etc/docker
sudo rm -rf /var/run/docker.sock
sudo groupdel docker

  2. Docker 下载：

    curl -fsSL https://get.docker.com -o get-docker.sh
sudo sh get-docker.sh
   
sudo groupadd docker
sudo usermod -aG docker $USER
newgrp docker
   
#设置开机自启动docker
systemctl enable docker
sudo systemctl restart docker
   
#验证docker
docker run hello-world
#查看docker里面安装的镜像文件
docker images

  3. 下载NVIDIA Container Toolkit：

    curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \
    && curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \
    sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
    sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list \
    && \
    sudo apt-get update
       
#Install the NVIDIA Container Toolkit packages
sudo apt-get install -y nvidia-container-toolkit
sudo systemctl restart docker
   
#Configure the container runtime
sudo nvidia-ctk runtime configure --runtime=docker
sudo systemctl restart docker
   
#查看nvidia-smi
docker run --rm --runtime=nvidia --gpus all ubuntu nvidia-smi
docker run --rm -it --gpus all ubuntu:22.04 /bin/bash
#启动docker里面的cuda时，需要对应好本机的ubuntu版本
#查看对应版本如下：https://gitlab.com/nvidia/container-images/cuda/blob/master/doc/supported-tags.md

Isaac Ros Workspace Setup

  1. Restart docker

    sudo systemctl daemon-reload && sudo systemctl restart docker

  2. Install Git LFS

    sudo apt-get install git-lfs
git lfs install --skip-repo

  3. Create ROS2 Workspace

    mkdir -p  ~/workspaces/isaac_ros-dev/src
echo "export ISAAC_ROS_WS=${HOME}/workspaces/isaac_ros-dev/" >> ~/.bashrc
source ~/.bashrc

  4. Create isaac_ros_common

    cd ${ISAAC_ROS_WS}/src && \
   git clone -b release-3.2 https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common.git isaac_ros_common

  5. Quick start assets

    sudo apt-get install -y curl jq tar
   
NGC_ORG="nvidia"
NGC_TEAM="isaac"
PACKAGE_NAME="isaac_ros_visual_slam"
NGC_RESOURCE="isaac_ros_visual_slam_assets"
NGC_FILENAME="quickstart.tar.gz"
MAJOR_VERSION=3
MINOR_VERSION=1
VERSION_REQ_URL="https://catalog.ngc.nvidia.com/api/resources/versions?orgName=$NGC_ORG&teamName=$NGC_TEAM&name=$NGC_RESOURCE&isPublic=true&pageNumber=0&pageSize=100&sortOrder=CREATED_DATE_DESC"
AVAILABLE_VERSIONS=$(curl -s \
    -H "Accept: application/json" "$VERSION_REQ_URL")
LATEST_VERSION_ID=$(echo $AVAILABLE_VERSIONS | jq -r "
    .recipeVersions[]
    | .versionId as \$v
    | \$v | select(test(\"^\\\\d+\\\\.\\\\d+\\\\.\\\\d+$\"))
    | split(\".\") | {major: .[0]|tonumber, minor: .[1]|tonumber, patch: .[2]|tonumber}
    | select(.major == $MAJOR_VERSION and .minor <= $MINOR_VERSION)
    | \$v
    " | sort -V | tail -n 1
)
if [ -z "$LATEST_VERSION_ID" ]; then
    echo "No corresponding version found for Isaac ROS $MAJOR_VERSION.$MINOR_VERSION"
    echo "Found versions:"
    echo $AVAILABLE_VERSIONS | jq -r '.recipeVersions[].versionId'
else
    mkdir -p ${ISAAC_ROS_WS}/isaac_ros_assets && \
    FILE_REQ_URL="https://api.ngc.nvidia.com/v2/resources/$NGC_ORG/$NGC_TEAM/$NGC_RESOURCE/\
versions/$LATEST_VERSION_ID/files/$NGC_FILENAME" && \
    curl -LO --request GET "${FILE_REQ_URL}" && \
    tar -xf ${NGC_FILENAME} -C ${ISAAC_ROS_WS}/isaac_ros_assets && \
    rm ${NGC_FILENAME}
fi

Isaac Sim

Installization（Workstation）

  1. Download

Download Isaac Sim — Isaac Sim Documentation

  1. Workstation Installiation

    mkdir ~/isaacsim
cd ~/Downloads
   
cd ~/isaacsim
./post_install.sh
#运行这个命令会打开app selector，可以选择内置ros环境和ros bridge
./isaac-sim.selector.sh
   
#运行这个命令会直接唤起程序
 ./isaac-sim.sh

  2. ROS2 Installization

  • 本地下载：ROS2 humble

    注意source ros2空间！！

    source /opt/ros/humble/setup.bash

  • ROS bridge extnesion

    Window->Extensions and search for ROS 2 bridge

  • Set up Isaac Sim ROS Workspaces

    下载ws：isaac-sim/IsaacSim-ros_workspaces: Isaac Sim ROS Workspaces

    下载相关包：

    # For rosdep install command
sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
# For colcon build command
sudo apt install python3-colcon-common-extensions
  
cd humble_ws
rosdep install -i --from-path src --rosdistro humble -y
  
colcon build
  
#每次启动isaac sim前均需要运行source
source install/local_setup.bash

ROS2 Navigation — Isaac Sim Documentation

  1. Installization

    sudo apt install ros-<ros2-distro>-navigation2
sudo apt install ros-<ros2-distro>-nav2-bringup

  2. Occupancy Map

    ROS2 Navigation — Isaac Sim Documentation

  3. Running

  • 启动流程：

     #Terminal1
 cd ~/isaacsim
 ./isaac-sim.selector.sh
   
 #Terminal2
 cd ~/IsaacSim-ros_workspaces
 cd humble_ws
 source install/local_setup.bash
 ros2 launch carter_navigation carter_navigation.launch.py

  • Load example:

    Window > Examples > Robotics Examples然后打开ROS2 > Navigation > Carter

    Play

  • Pose Estimate

  • Nav2 Goal

NVBlox:

  1. 首先完成前置环境配置：

    IsaacSim 4.5 Workstation - Nav2/VSlam

  2. isaac_ros_nvblox：

    #Launch docker container 
cd $ISAAC_ROS_WS && ./src/isaac_ros_common/scripts/run_dev.sh
#Install isaac_ros_nvblox and its dependencies.(重新启动docker时可能需要    再运行下这个进行source)
sudo apt-get update
sudo apt update &&
sudo apt-get install -y ros-humble-isaac-ros-nvblox && \
rosdep update && \
rosdep install isaac_ros_nvblox

    ros2 launch nvblox_examples_bringup isaac_sim_example.launch.py \
rosbag:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_nvblox/quickstart \
navigation:=False

  3. Reconstruction + Nav2

  • 跑launch之前的source应该运行这个： IsaacSim 4.5 Workstation - Nav2/VSlam

     cd $ISAAC_ROS_WS && ./src/isaac_ros_common/scripts/run_dev.sh
   
 cd /workspaces/isaac_ros-dev
   
 export FASTRTPS_DEFAULT_PROFILES_FILE=/usr/local/share/middleware_profiles/rtps_udp_profile.xml
   
 ros2 launch nvblox_examples_bringup isaac_sim_example.launch.py

     #建议先启动isaac-sim-selector
 ./isaac-sim.selector.sh
 #在selector gui界面内先Clear cache，然后Open in terminal
 ./isaac-sim.sh

    ⚠️Crash：

    点击play后会出现crash提示或者在运行一段Nav2后会出现 llvm: out of memory

此时需要对Nvidia Driver版本进行降级，根据官方推荐为 >=  **535.129.03**

如果运行时再出现crash，保留nvblox终端，再次运行isaacsim

    ⚠️Error：

     [Error] [omni.sensors.nv.lidar.lidar_core.plugin] CUDA Driver CALL FAILED at line 522: the provided PTX was compiled with an unsupported toolchain.
 [Error] [omni.sensors.nv.lidar.lidar_core.plugin] CUDA Driver CALL FAILED at line 548: named symbol not found
 #</path/to/isaac_sim_installation>为isaacsim文件的下载路径
 export LD_LIBRARY_PATH=</path/to/isaac_sim_installation>/extscache/omni.sensors.nv.common-2.5.0-coreapi+lx64.r.cp310/bin:$LD_LIBRARY_PATH

  • RVIZ2: 选中3d LiDAR可以感知较大范围的物体，可以辅助Nav时Goal的选择

img

  1. Reconstruction + Segmantic image

img

Visual Slam

  1. 首先完成前置环境配置：

    IsaacSim 4.5 Workstation - Nav2/VSlam

    ⚠️Error: Failed to initialize CUVSLAM tracker: 4

  2. isaac_ros_visual_slam 环境配置

    cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
./scripts/run_dev.sh
   
sudo apt-get update
#每次launch前要用这个source一下
sudo apt-get install -y ros-humble-isaac-ros-visual-slam

  3. Run Launch File

    #Terminal 1
sudo apt-get update
sudo apt-get install -y ros-humble-isaac-ros-examples
#使用quickstart
ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=visual_slam \
interface_specs_file:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_visual_slam/quickstart_interface_specs.json \
rectified_images:=false

    #Terminal 2
cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
./scripts/run_dev.sh
#这个用来启动摄像头，在运行完Terminal3后运行
ros2 bag play ${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_visual_slam/quickstart_bag --remap  \
/front_stereo_camera/left/image_raw:=/left/image_rect \
/front_stereo_camera/left/camera_info:=/left/camera_info_rect \
/front_stereo_camera/right/image_raw:=/right/image_rect \
/front_stereo_camera/right/camera_info:=/right/camera_info_rect \
/back_stereo_camera/left/image_raw:=/rear_left/image_rect \
/back_stereo_camera/left/camera_info:=/rear_left/camera_info_rect \
/back_stereo_camera/right/image_raw:=/rear_right/image_rect \
/back_stereo_camera/right/camera_info:=/rear_right/camera_info_rect

    #Terminal
cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
   ./scripts/run_dev.sh
#run rviz   
rviz2 -d $(ros2 pkg prefix isaac_ros_visual_slam --share)/rviz/default.cfg.rviz
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