Package to run andino_isaac #9
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I'd ignore .thumbs
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| import argparse | |||
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Indentation looks weird, please use spaces and check the number of spaces you're using.
Also, would be good to be able to select headless (True/False), and renderer (RayTracedLighting, PathTracing) but that can be added to a separate ticket.
| # Paths to places | ||
| pkg_andino_isaac_path = get_package_share_directory('andino_isaac') | ||
| user_home_path = os.path.expanduser("~") | ||
| isaac_install_path = os.path.join(user_home_path, ".local/share/ov/pkg/isaac_sim-2023.1.0") |
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This is user dependant. Create an issue to find this automatically. (Same thing for hte LD Libraty Path)
Alternatively we could have a launch argument to provide the path to the isaac installation.
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We can go a little further, checking if the ~/.local/share/ov/pkg/ exists, getting all the folders starting with isaac_sim-, sort by name, and use latest (In fact, you're not using 2023.1.0-hotfix, so this wouldn't work on most users computers since the version you're using is discouraged). Alternatively, if the path mentioned above does not exist, we should check /isaac-sim which is install folder in Nvidia's container.
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What's the difference between just_andino and andino_isaac?
Can we rename the files to be more descriptive? Also information in the readme about the available usda might super useful
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Will be added in #11
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@BarceloChristian @francocipollone Comments addresesd. I'll create the requested issues once this is merged |
Closes #3
This converts the repository into a ROS2 package that has the ability to run isaac with a given world and robot via a launchfile.
ros2 launch andino_isaac andino_isaac.launch.py --world_name plain_world.usda --robot_name just_andino.usda(this will load the default arguments)