Building ROS Robotics Applications

ROS Pointed out to me as instructive  .... 

Building Robotics Applications Using ROS and NVIDIA Isaac SDK

By Sameer Tangade and Cenk Oguz Saglam | November 11, 2020  Tags: Isaac SDK, Isaac Sim, Robotics, ROS, Simulation

The Robot Operating System (ROS) offers many software libraries and tools to help build robot applications, including framework, algorithms, sensors, and robot platforms. It is extremely popular with roboticists and researchers everywhere. A continuous influx of packages and libraries from the ecosystem makes it easy to get started on robotics projects.

Figure 1. Using the ROS bridge to connect the Isaac and ROS software stacks. ... 

NVIDIA Isaac SDK is an open robotics platform to accelerate the development and deployment of AI-powered robots. Isaac SDK brings a SW framework, Isaac Engine, for efficient processing on NVIDIA Jetson platforms as well as GPUs. It also includes AI and GPU-accelerated algorithms, Isaac GEMS, as well as an integration to Isaac Sim for NVIDIA RTX-powered photo-real simulation. These capabilities can be used in a ROS-based application stack using the Isaac SDK ROS bridge (Figure 1). This allows developers and researchers to leverage both platforms for building robotics applications.

In this post, we show you how to use the ROS bridge to take an image from a camera in ROS format and use it with an Isaac GEM (Superpixel). Using examples, we also look at connecting Isaac GEMs and Isaac Sim with a ROS application stack as well as modules using the Isaac ROS bridge. Finally, we explain how to write a message converter (ROS bridge) for ROS to Isaac or Isaac to ROS scenarios.  ... '