isaac_demo

A combined set of demo working with Isaac SIM on a workstation and Isaac ROS on a NVIDIA Jetson AGX Orin

Hardware required

Workstation:

1. Internet connection
2. x86/64 machine
3. Install Ubuntu 20.04
4. NVIDIA Graphic card with RTX
5. Display
6. Keyboard and Mouse

NVIDIA Jetson:

1. NVIDIA Jetson AGX Orin
2. Jetpack 5.1.2

Tools:

1. Router
2. eth cables

Setup hardware

Before to start check you have all requirements and connect the driver following this image

It is preferable to connect workstation and the NVIDIA Jetson AGX Orin with a lan cable and not use WiFi.

Install

There are two steps to follow, Install FoxGlove and Install Isaac ROS

Follow:

• Install on Jetson
• Install on workstation

Install on NVIDIA Jetson Orin

Install on your NVIDIA Jetson Orin Jetpack 5+

After installation save IP address and hostname

Connect remotely

In this section you connect to your NVIDIA Jetson with a ssh connection, open a terminal an write

ssh <IP or hostname.local>

where IP is the of NVIDIA Jetson or hostname is the hostname of your board.

If you are connected the output from the terminal is:

Install Isaac Demo

Clone this repository and move to repository folder

git clone https://github.com/rbonghi/isaac_demo.git
cd isaac_demo

Add docker group to your user

sudo usermod -aG docker $USER && newgrp docker

Set the default nvidia runtime

You’re going to be building containers, you need to set Docker’s default-runtime to nvidia, so that the NVCC compiler and GPU are available during docker build operations. Add "default-runtime": "nvidia" to your /etc/docker/daemon.json configuration file before attempting to build the containers:

{
    "default-runtime": "nvidia",
    "runtimes": {
        "nvidia": {
            "path": "nvidia-container-runtime",
            "runtimeArgs": []
        }
    }
}

Then restart the Docker service, or reboot your system before proceeding:

sudo systemctl restart docker

Run the installer

./isaac_demo.sh

If everything is going well (need time before to be done) the terminal will show this output

Install on workstation

In this first part, you install different software on your workstation.

• NVIDIA Isaac SIM
• Foxglove
• This repository

NVIDIA Isaac SIM

Follow the documentation on NVIDIA Isaac SIM Workstation install

1. Download the Omniverse Launcher
2. Install Omniverse Launcher
3. Install Cache from the Omniverse Launcher
4. Install Nucleus from the Omniverse Launcher

Open Omniverse Launcher

Move to Library and choice “Omniverse Isaac SIM” and download the latest 2022.2 version

Foxglove on Desktop

Download the latest foxglove version for your desktop

sudo apt install ./foxglove-studio-*.deb
sudo apt update
sudo apt install -y foxglove-studio

Isaac SIM and Isaac DEMO

Clone this repository and move to repository folder

git clone https://github.com/rbonghi/isaac_demo.git
cd isaac_demo

Now follow the Run demo to start the simulation

Run demo

From your workstation now you need to do two extra steps

Start Isaac SIM

Start the NVIDIA Isaac SIM from script

Open a terminal on your workstation and write

cd isaac_demo
./isaac_demo.sh

Now this script initialize and run NVIDIA Isaac SIM, after a while you see a new window with Isaac SIM running

After this step you can complete to run the demo on your NVIDIA Jetson.

Run simulation on Jetson

If you close your terminal on the installation, you can reopen with:

ssh <IP or hostname.local>

where IP is the of NVIDIA Jetson or hostname is the hostname of your board.

and run

cd isaac_demo
./isaac_demo.sh

Wait this script run the docker terminal, like the image below

Now you can run the script below

bash src/isaac_demo/scripts/run_in_docker.sh

if you are planning to use Foxglove please run the same script with option --foxglove

bash src/isaac_demo/scripts/run_in_docker.sh --foxglove

Well done! Now the Isaac ROS is running on your Jetson

Setup foxglove

1. Open foxglove
2. Set up Open connection

1. Select Foxglove WebSocket and Open

1. Write on WebSocket URL

ws://<IP or hostname.local>:8765

where IP is the of NVIDIA Jetson or hostname is the hostname of your board.

1. Setup Layout

Press on “Import layout” icon and after on top press the button Import layout

Select the layout on: isaac_demo/foxglove/Default.json

1. Output running

You can drive the robot directly from the foxglove joystick

Troubleshooting

If Isaac SIM on your workstation show this message

just wait! :-)