isaacsim5.0_ros2_go2

The goal of this repository is to achieve full control of the Unitree Go2 quadruped robot within the Isaac Sim 5.0 simulation environment, utilizing ROS 2 Humble as the communication and control framework.

How to install

1. Install IsaacSim 5.0 & isaac Lab 2.2.0

isaacsim

• isaacsim 5.0 installation

you need to install isaacsim in home directory (~/) and setup ros2_ws(humble) following instruction above

• isaaclab 2.2.0 installation copy and paste

# 1. clone isaaclab repo
cd ~
git clone git@github.com:isaac-sim/IsaacLab.git

# 2. checkout to 2.2.0
cd IsaacLab
git checkout release/2.2.0

# 3. make conda env
./isaaclab.sh --conda isaaclab
conda activate isaaclab

# 4. source isaacsim
source ~/isaacsim/setup_conda_env.sh

# 4. install isaaclab
./isaaclab.sh --install

2. source isaacsim & isaacsim ros2_ws

notice

you shouldn't source your system ros2 ws because it is ros packages for 3.10 (ubuntu 22.04) or 3.12 (ubuntu24.04) ex) source /opt/ros/humble/setup.bash

# if you want to start isaaclab from your conda env, you need to source your isaacsim & ros2 ws

source ~/isaacsim/setup_conda_env.sh
# we need to source ros2 packages that is built with python 3.11 for isaacsim
source ~/IsaacSim-ros_workspaces/build_ws/humble/isaac_sim_ros_ws/install/local_setup.bash
source ~/IsaacSim-ros_workspaces/build_ws/humble/humble_ws/install/local_setup.bash

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How to start

# activate conda & source your isaacsim & isaacsim ros2 packages first

cd path/to/isaacsim5.0_ros2_go2
python run_simul.py

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Multi Robot Teleoperation

• we are using isaaclab's se2keyboard insterface

8/2 : x linearspeed value (front, back)

4/6 : y linearspeed value (left, right)

7/9 : z angularspeed value(yaw) (z-, z+)

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Importing Go2 into a Digital Twin environment

go2_usdz_import.mp4