isaac-sim-ros2-bridge
Installation
SKILL.md
Isaac Sim ROS 2 Bridge
Architecture
The ROS 2 Bridge in Isaac Sim 6.0 is extension-based (isaacsim.ros2.bridge) and built on OmniGraph action graphs. Publishers, subscribers, and services are only active when play is pressed.
Extension Stack
| Extension | Purpose |
|---|---|
isaacsim.ros2.core |
Backend libraries, settings, lightweight ROS 2 libs |
isaacsim.ros2.nodes |
OmniGraph nodes for topics/services |
isaacsim.ros2.bridge |
Top-level bridge extension (enables all) |
isaacsim.ros2.tf_viewer |
TF tree visualization |
isaacsim.ros2.urdf |
URDF import with ROS 2 conventions |
isaacsim.ros2.examples |
Sample scenes (Nova Carter, iw_hub, hospital, office) |
isaacsim.ros2.sim_control |
Simulation control via ROS 2 services |