ROS Bridge UI (semu namespace) for NVIDIA Omniverse Isaac Sim

This extension enables the menu and commands of the ROS interfaces for the ROS extensions (under the semu namespace). The components are compatible with both ROS and ROS2

Target applications: NVIDIA Omniverse Isaac Sim

Supported OS: Linux

Changelog: CHANGELOG.md

Table of Contents:

• Prerequisites
• Extension setup
• Menu items
• Supported commands

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Prerequisites

This extension requires the following extensions to be present in the Isaac Sim extension path:

• semu.usd.schemas: USD schemas

Extension setup

1. Add the extension using the Extension Manager or by following the steps in Extension Search Paths

   • Git url (git+https) as extension search path

     git+https://github.com/Toni-SM/semu.robotics.ros_bridge_ui.git?branch=main&dir=exts
     

   • Compressed (.zip) file for import

     semu.robotics.ros_bridge_ui.zip

2. Enable the extension using the Extension Manager or by following the steps in Extension Enabling/Disabling

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Menu items

The following items will be created under the Create > Isaac menu once the extension is activated

• Create > Isaac > ROS

  • Attribute

• Create > Isaac > ROS Control

  • Follow Joint Trajectory

  • Gripper Command

---

Supported commands

The following commands are supported:

• Attribute: Get or set prim attributes (ROS service)

  class ROSBridgeCreateAttribute(
      path: str = "/ROS_Attribute",
      parent = None,
      enabled: bool = True,
      prims_service_topic: str = "/get_prims",
      attributes_service_topic: str = "/get_attributes",
      get_attr_service_topic: str = "/get_attribute",
      set_attr_service_topic: str = "/set_attribute"
  )

• Follow Joint Trajectory: FollowJointTrajectory action type (ROS action)

  class ROSControlBridgeCreateFollowJointTrajectory(
      path: str = "/ROSControl_FollowJointTrajectory",
      parent = None,
      enabled: bool = True,
      controller_name: str = "/robot_controller",
      action_namespace: str = "/follow_joint_trajectory",
      articulation_prim_rel = None
  )

• Gripper Command: GripperCommand action type (ROS action)

  class ROSControlBridgeCreateGripperCommand(
      path: str = "/ROSControl_GripperCommand",
      parent = None,
      enabled: bool = True,
      controller_name: str = "/gripper_controller",
      action_namespace: str = "/gripper_command",
      articulation_prim_rel = None,
      gripper_joints_prim_rel = None
  )