• 1. Overview
• 2. Maintainer
• 3. Installation
  • 3.1. Extension Activation
  • 3.2. Dependencies
• 4. Run Isaac Sim
  • 4.1. Troubleshooting
• 5. Build
• 6. Debug
• 7. (Optional) Visualize UR5 Frames using the Universal ROS2 Package

1. Overview

This repository contains the environment to run and test algorithms for the UR5 of the Laboratory of Robotics at Federal University of Bahia (UFBA). It is possible to test sensors integrations such as RGB+D cameras, generate point clouds, etc.

⚠️ The main reason to use this repository is to avoid damaging the robot with untested algorithms such as trajectory planning, grasping generators, etc.

Keywords: Robot manipulators, UR5 Simulation, LaR UFBA

2. Maintainer

Authors: Caio Viturino Affiliation: SENAI SIMATEC (Robotics Specialist) Maintainers: Caio Viturino (engcaiobarros@gmail.com / caio.viturino@fieb.org.br)

The ur5_isaac_simulation package has been tested under [ROS] Humble and Ubuntu 22.04.

:warning: Please note that this extension only works with Isaac Sim 2023.1.1 Also check the minimum hardware requirement to run ISAAC SIM in this website. It is highly recommended to have at least an RTX 3060 GPU.

The simplest way to install the nvidia driver is to go to “Additional drivers” and choose "using NVIDIA driver metapackage from nvidia-driver-525 (proprietary)". If you have any trouble installing this driver, uninstall the all the nvidia drivers before installing a new one:

sudo apt-get remove --purge '^nvidia-.*'

3. Installation

3.1. Extension Activation

Add the exts/exts folder to the extension path and activate the extension. Mark the option AUTOLOAD.

3.2. Dependencies

Please install the following before proceeding:

sudo apt install ros-humble-vision-msgs ros-humble-control-msgs \
  ros-humble-tf-transformations ros-humble-joint-state-publisher \
  ros-humble-xacro

First time using ROS2? You’ll probably need to install colcon-common-extensions:

pip install -U colcon-common-extensions

4. Run Isaac Sim

• The following launch file executes the UR5 and Robotiq 2F-140 controllers and also opens RVIZ2:

ros2 launch ur5_isaac_simulation ur5_isaac_ros2.launch.py

• Run the UR5 Isaac Simulation main node

ros2 run ur5_isaac_simulation ur5_isaac_ros2

4.1. Troubleshooting

• Isaac Sim takes some time to load when the following warning message appears. In this case, just wait a few seconds (280 or more depending on your GPU).

    [Warning] [gpu.foundation.plugin] Waiting for compilation of ray tracing shaders by GPU driver: 30 seconds so far
    

After the following warning message appears, Isaac sim should not take too long to load:

    [gpu.foundation.plugin] Ray tracing shader compilation finished after 281 seconds
    

5. Build

• Clone this repository inside your src folder

```bash cd YOUR_WORKSPACE/src git clone THIS_REPOSITORY_LINK

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