Notes on getting Ros2 working with Omniverse.

List of all the omniverse ros2 tutorials, link

Shortcut to boot up once you’ve got it working:

1. in any terminal, enter:

export FASTRTPS_DEFAULT_PROFILES_FILE=~/IsaacSim-ros_workspaces/humble_ws/fastdds.xml

1. Start isaac sim, make sure you enter these in the start window:

   

2. Run rviz to see if everything is working:

   ros2 run rviz2 rviz2
   

3. If you get this crazy error, its caused by vscode extension, just open a terminal instead:

   /opt/ros/humble/lib/rviz2/rviz2: symbol lookup error: /snap/core20/current/lib/x86_64-linux-gnu/libpthread.so.0: undefined symbol: __libc_pthread_init, version GLIBC_PRIVATE
   [ros2run]: Process exited with failure 127
   

State:

• omniverse installed and working on 22.04
• installed ros2 directly onto ubuntu, using this link:
  • https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_ros.html#running-native-ros

Tutorial on getting Ros2 talking to omniverse:

• you need to either close an issac ros2 workspace or set up this fastdd thing in your workspace.
  • Im just going to clone thiers for now: https://github.com/NVIDIA-Omniverse/IsaacSim-ros_workspaces
• command for fastdds export: