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03_ROS_simulation.md

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Run a more complex simulation

For example you can run the turtlebot3. Compile the code from this PR ROBOTIS-GIT/turtlebot3_simulations#180

Use ROS 2 Galactic.

mkdir -p ~/turtlebot3_ws/src
cd ~/turtlebot3_ws/src
git clone https://github.com/ahcorde/turtlebot3_simulations -b ahcorde/ignition_support
git clone https://github.com/ignitionrobotics/ign_ros2_control -b galactic
rosdep install --from-paths ./ -i -y --rosdistro galactic

Compile it

cd ~/turtlebot3_ws/
source /opt/ros/galactic/setup.sh
export IGNITION_VERSION=fortress
colcon build --merge-install --event-handlers console_direct+

Run Ignition

This should run in a separate terminal using your normal Ignition Gazebo installation.

source ~/turtlebot3_ws/install/setup.bash
TURTLEBOT3_MODEL=waffle ros2 launch turtlebot3_ignition ignition.launch.py

Run IsaacSim

Launch IsaacSim and activate the live sync

Run the connector

Create this directory omniverse://localhost/Users/ignition/ in the nucleus server and run the connector

export IGN_GAZEBO_RESOURCE_PATH="~/turtlebot3_ws/src/turtlebot3_simulations/turtlebot3_gazebo/models:/opt/ros/galactic/share"
reset && bash run_ignition_omni.sh -p omniverse://localhost/Users/ignition/turtlebot3.usd -w empty -v --pose ignition