According with this file https://github.com/gazebosim/gz-omni/blob/main/premake5.lua#L125 gz-omni only works with Fortress. It will be great to support Garden too.

Where is the full ci pipeline that builds all projects including this one?

This issue is meant to track the progress of the connector between Ignition Gazebo and Issac Sim SDF which is currently a work in progress.

Ignition -> Issac Sim

• Lights #10
• Sensor #12
• Collision #13
• Joints: #14
• Instructions #15

TODO

• Q/A and testing

Issac Sim -> Ignition

• Remove, add and move models #16

TODO

• Joints
• Lights
• Sensors
• Visual

Additional context

• Threadsafe architecture #7

For some reasons I have to use Isaac Sim but would love to backport environments to sdf and robot models to urdf.

This project seems to be the only way and it has been announced as great coalition between nvidia and OSRF.

Now last commit has been older than six month.

Can you kindly comment on the project state ?

~: cd ~/ign-omni/src/ign-omni
~/ign-omni/src/ign-omni: bash run_ignition_omni.sh -p omniverse://localhost/Users/ignition/shapes.usd -w shapes --pose ignition
Running script in /home/erwincoumans/ign-omni/src/ign-omni
Opening in existing browser session.
Coding Error (secondary thread): in AddXformOp at line 189 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/usd/usdGeom/xformable.cpp -- The xformOp 'xformOp:rotateXYZ' already exists in xformOpOrder [[xformOp:translate, xformOp:rotateXYZ]].
Coding Error (secondary thread): in _GetOrAddCommonXformOps at line 934 of /buildAgent/work/ca6c508eae419cf8/USD/pxr/usd/usdGeom/xformCommonAPI.cpp -- Failed verification: ' r '

Environment

• OS Version: Ubuntu 20.04
  I build both source and binary, following the instructions exactly (how to compile and quickstart) then ran

bash run_ignition_omni.sh -p omniverse://localhost/Users/ignition/shapes.usd -w shapes --pose ignition

Playing with Gazebo and Isaac Sim, adding a few objects, moving them around, start/stop the simulation in Gazebo. The synchronization from Gazebo to IsaacSim works fine. Then after a while I noticed this error message in the terminal.

Feel free to close this issue it is harmless/expected.

The current build system is a mess with a mix of cmake, premake and several nvidia build tools.

cmake wraps nvidia build tools which in turn wraps premake (along side other tools depending on the host/target platforms). Some limitations of the current system.

• nvidia tools lack documentations
• hardcoded build directory
  • not exactly hardcoded, but changing them require understanding nvidia's build tools
• does not support installing

The main limitation we need to solve in order to release this is to make it support installation and packaging for omniverse.

• Should we write custom scripts to perform installation or attempt to build this using cmake to make use of cmake install targets?
  • If we go the cmake route, how should we handle fetching of dependencies?
• How should we package this so that it can find the ignition libraries? Note that we also need to set this up so that they do not use the system's ignition libs, as this requires custom build of ignition with pre cxx11 abi.
  • Static link those libraries
  • set rpath to find those libraries
  • make a launcher script which sets LD_LIBRARY_PATH (this is the approach the nvidia sample connector uses)
  • How about windows/mac support?

There are many duplicated code from sdformat, mostly in parsing msgs into usd. We could use the code in sdformat but most functions takes in sdf objects. Is there already a way to convert ignition::msgs to sdf? If not, should we convert them to sdf and then to usd? @ahcorde Do you think the it is worth the performance penalty?