Gazesim (Gazebo-IsaacSim-Plugin)

🚀 Notice

This repository has been tested with Gazebo-11 (Noetic) and IsaacSim 2023.1.1.
Compatibility with other versions is not guaranteed.

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📽️ Preview

🎥 Click image to watch the video

Gazebo Terrain

IsaacSim World

📦 Usage

Code & Data Setup

cd {your_workspace}/src
git clone [email protected]:dklee98/Gazesim.git
cd {your_workspace} && catkin build
source devel/setup.bash

cd {your_workspace}/src/Gazesim
bash ./download.sh
bash ./setup_gazebo.sh

🛠 Steps to Launch Gazesim

[1] Launch Isaac Sim in Omniverse

1. Open Omniverse Launcher.
2. Go to the Nucleus tab.
3. Click the menu icon.
4. Select Settings.
5. On the settings page, click Restart All Services.
6. Go to the Library tab in the launcher.
7. Launch and start Isaac Sim.
8. Wait until Isaac Sim is fully opened.

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[2] Set Up the IsaacSim World

1. Move the model
   Move gazesim_models/forest/forest_isaacsim directory to your Omniverse projects.

2. Open the model
   Open forest_isaacsim/forest_isaacsim.usda in IsaacSim.

3. Add a second viewport

   • Go to Window → Viewport → Viewport2.
     

4. Change the camera in Viewport2

   • Set the camera to Camera_left or Camera_right.
   • You can choose any viewpoint from Viewport1.
     

5. Proceed to the next step
   ⚠️ Important: Do NOT press the Start button yet! ⚠️

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[3] Set Up the Gazebo World

1. Start ROS Core

   roscore

2. Launch the Gazebo Simulator

   roslaunch gazesim_ros simulator.launch

3. Launch the Gazesim Plugin

   roslaunch gazesim_ros plugin.launch

[4] Press the Start Button in IsaacSim

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[5] Collect the Dataset

⚠️ A joystick is required to control the robot. ⚠️

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📧 Contact

For any inquiries, contact:
📩 [email protected]