isaac-sim-yarp-bridge

Connection between the Isaac Sim ROS2 bridge and YARP interfaces.

The repo is composed of two main parts:

1. A set of YARP devices that connect to the Isaac Sim ROS2 bridge topics and services.
2. A set of Python scripts to launch inside Isaac Sim to create an action graph that publishes and subscribes to the relevant ROS2 topics and services.

C++ devices installation

Dependencies

The C++ dependencies can be installed via conda using the following command:

conda install -c conda-forge -c robostack-jazzy cxx-compiler cmake pkg-config make ninja colcon-common-extensions catkin_tools rosdep ros-jazzy-desktop yarp catch2

Build and install

To build and install the YARP devices, clone the repository. Then, from the root of the repository, run:

mkdir build
cd build
cmake .. -GNinja -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=<install_path>
cmake --build . --target install

Replace <install_path> with the desired installation path.

Python scripts installation

The scripts in the scripts folder can be used inside Isaac Sim to create an action graph that connects to the ROS2 bridge topics and services. To use them, simply copy their content in a script editor inside Isaac Sim and run them. Some of them require the location of the other scripts. Hence, it is necessary to set the following environment variable

export ISAAC_SIM_YARP_BRIDGE_PATH=<path_to_the_cloned_repository>