Nividia Isaac <-> ROS2 Bridge

asked 2020-07-31 06:02:03 -0500

Deniz gravatar image

Hey guys,

I've been working on building a bridge between these two eco systems [ISAAC <-> ROS2].

My current approach involves building ROS2 and all its packages the usual way colcon build --symlink-install and then try to link the built libraries in Nvidia Isaac's bazel WORKSPACE / BUILD files and simply use the compiled rclcpp library inside the bazel workspace.

In theory I should be able to then compile the Isaac package with dynamic links to the ROS2 libraries with bazel and have now created a nvidia isaac package that is capable of sending/receiving ROS2 msgs, right?

I would like to know if this is a valid approach and if this has been solved already and i'm just reinventing the wheel here?

I did come accross this github project: https://github.com/colcon/colcon-ros-... , but there I didn't manage to find documentation therefore I dont know how to use it and if it's fit for purpose. Nor does it directly imply ISAAC <-> ROS2 compatibility

Thank you for your time!

Deniz

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Dirk Thomas gravatar image Dirk Thomas  ( 2020-07-31 11:54:37 -0500 )edit