gazebosim/gz-omni

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Created almost 3 years ago
Updated almost 2 years ago

gazebosim/gz-omni

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Connnects Gazebo to Isaac Sim

ign-omni

NOTES:

This repository is under development, you might find compilation errors, malfunctions or some undocumented features.
This code will only run on Linux (for now).
You should install Ignition Fortress (from source).

Requirements:

ROS 2 Galactic.
Ignition Gazebo Fortress
ubuntu 20.04

Features:

Ignition -> IsaacSim
- Move/rotate models
- Create/remove models
- Joints
- Sensors (lidar, cameras)
IsaacSim -> Ignition
- Create/remove models

Tutorials

ROSCon 2022

gazebo-classic

Gazebo classic. For the latest version, see https://github.com/gazebosim/gz-sim

gz-sim

Open source robotics simulator. The latest version of Gazebo.

ros_gz

Integration between ROS (1 and 2) and Gazebo simulation

sdformat

Simulation Description Format (SDFormat) parser and description files.

ros_gz_project_template

A template project integrating ROS and Gazebo simulator

gz-gui

Builds on top of Qt to provide widgets which are useful when developing robotics applications, such as a 3D view, plots, dashboard, etc, and can be used together in a convenient unified interface.

gz-physics

Abstract physics interface designed to support simulation and rapid development of robot applications.

gz-rviz

ROS 2 visualization using Gazebo Libraries

gz-sensors

Provides numerous sensor models designed to generate realistic data from simulation environments.

gz-math

General purpose math library for robot applications.

gz-rendering

C++ library designed to provide an abstraction for different rendering engines. It offers unified APIs for creating 3D graphics applications.

docs

High-level Gazebo documentation that gets published to https://gazebosim.org/docs/

gz-plugin

Cross-platform C++ library for dynamically loading plugins.

gz-transport

Transport library for component communication based on publication/subscription and service calls.

sdf_tutorials

SDFormat documentation and proposals.

gz-mujoco

gz-cmake

A set of CMake modules that are used by the C++-based Gazebo projects.

gz-msgs

Messages for Gazebo robot simulation.

gz-usd

Command line tools to convert SDFormat to USD and viceversa

gz-tools

Command line tools for the Gazebo libraries.

gz-fuel-tools

A client library and command line tools for interacting with Gazebo Fuel servers.

gz-launch

Run and manage programs and plugins.

gz-common

An audio-visual library supports processing audio and video files, a graphics library can load a variety 3D mesh file formats into a generic in-memory representation, and the core library of Gazebo Common contains functionality that spans Base64 encoding/decoding to thread pools.

design

Design documents and proposals for Gazebo.

gz-bazel

gz-bazel provides a set of Bazel build rules that are used by the Gazebo projects.

gz-utils

Classes and functions for robot applications

gz-rndf

An RNDF parser.

gz-garden

Garden, Gazebo's 7th named release

gz-fortress

Fortress, Gazebo's 6th named release

gazebo_test_cases

.github

Default Ignition health files such as issue and PR templates

garden-tutorial-party

gz-edifice

Edifice, Gazebo's 5th named release

gz-chrono

Connects Gazebo with the Project Chrono Physics Engine

gz-citadel

Citadel, Gazebo's 3rd named release

gz-harmonic

Harmonic, Gazebo's 8th named release

gz_pkg_create

A tool for setting up gazebo related projects.

gz-omni-meta