Manipulators-simulation-workshop-roscon-es-2024

This tutorial demonstrates simulating UR manipulators with Nvidia Isaac Sim and ROS 2, including single and multi-robot setups and camera vision integration, using planners like LULA, RMPFlow, and Curobo.

System Requirements

To run the Docker-based simulation tutorial, ensure your system meets the following requirements:

• Operating System: Ubuntu 20.04 LTS or later (preferred); Docker is also available for Windows and macOS.
• Docker: Docker Engine and Docker Compose installed (version 1.27+ recommended).
• CPU: Multi-core processor (e.g., Intel Core i7 or equivalent).
• GPU: NVIDIA GPU with CUDA support (e.g., RTX 2060 or higher) and driver version 525.60.11 or later.
• RAM: Minimum 8 GB (16 GB recommended).
• Storage: At least 50 GB of free disk space for Docker images and data.
• Network: Stable internet connection for downloading Docker images and dependencies.

Important: Ensure Docker is properly configured to utilize the GPU if required and that your system has adequate resources for smooth operation. Verify GPU availability with the following command:

docker run --rm --gpus all nvidia/cuda:11.2.2-base-ubuntu20.04 nvidia-smi

Setup using Docker (RECOMENDED)

1. Setup NVIDIA GPU Cloud (NGC) Environment:

   Ensure you have an NGC API key. Follow the instructions here to generate one.

   Log in to NGC using Docker:

   docker login nvcr.io
   Username: $oauthtoken
   Password: [Your NGC API Key]

2. Install and configure your omniverse Nucleus user:

   Ensure that you have Omniverse Launcher installed

   After installing Omniverse Launcher, configure your local Nucleus Server

3. Clone the Workshop Repository:

git clone https://github.com/DarK404/Manipulators-simulation-workshop-roscon-es-2024.git
cd Manipulators-simulation-workshop-roscon-es-2024/Docker

4. Build the Docker Image:

Run the provided script to set up the environment and build the Docker images:

bash build_docker.sh isaac_sim_2023.1.0

Then, build the required services:

docker compose build demo_isaac demo_isaac_zimmer

5. Run the Docker Containers:

Enable GUI visualization on your host machine:

xhost + # this will enable gui visualization

Start the Isaac Sim container:

bash start_docker.sh isaac_sim_2023.1.0
cd examples/code/

Running the Demos

To Run Isaac_moveit.py, execute the following command inside the Docker terminal

# Isaac Sim Docker Terminal
$omni_python isaac_moveit.py

In your computer, open a second terminal and execute

cd Manipulators-simulation-workshop-roscon-es-2024/Docker
docker compose up demo_isaac

To Run the simple_stacking_ur.py, execute the following command inside the Docker terminal

# Isaac Sim Docker Terminal
$omni_python simple_stacking_ur.py

In your computer, open a second terminal and execute

cd Manipulators-simulation-workshop-roscon-es-2024/Docker
docker compose up demo_isaac_zimmer