ROS2 Topic-Based Control with Diff Drive in Isaac Sim

Status
Open

We estimate that the final, edited video will be 10-15 minutes in duration.

Goal: Demonstrate how to control a simulated differential-drive robot in Isaac Sim using ROS 2 and the ros2_control framework

Outline:

  1. Introduce yourself and the goal of the video/what will viewers learn.
    • Controlling a diff-drive robot in simulation via ROS 2 topics, understanding ros2_control, and monitoring feedback.
  2. Background:
    • What is differential drive, and why is it common in mobile robots?
    • What is ros2_control and how are we using it?
    • What is topic-Based Control, and how are we using it?

2. How do you setup this project?

  • Load or import a differential-drive robot model into Isaac Sim.
  • Configure wheel joints to respond to velocity commands via ros2_control.
  • Enable the ROS 2 bridge for message exchange between Isaac Sim and ROS 2.
  • Highlight key files and folders:
    • URDF/XACRO robot description
    • Launch files
    • Controller configuration YAMLs
  • Explain where the ros2_control interfaces are defined and how they are integrated into the robot model.
  1. Implementing Topic-Based Control with ros2_control
    • How is the diff_drive_controller configured in the YAML file?
    • What topics does the controller use?
    • How does Isaac Sim simulate the hardware interface defined in ros2_control?
    • How do you launch the controller manager and load the diff_drive_controller?
    • What role does the hardware_interface play in simulation vs. real hardware?
  2. How do you monitor and debug?
    • What tools can you use to inspect topic flow (rqt_graph, ros2 topic echo, Isaac Sim UI)?
    • How do you visualize odometry and joint states?
    • What are common issues with controller setup (e.g., missing joints, incorrect topic names)?
    • How do you debug controller errors or misbehavior?
  3. Recap the video & suggest potential next steps/extensions the viewer can take

    4. Next in Simulation

    • Integrate with Nav2 for autonomous navigation
    • Add LiDAR or cameras for mapping
    • Try with your own custom robot exported from CAD/URDF

    Next on Real Robots

    • Use the same ROS 2 setup on a physical diff-drive robot (TurtleBot, JetBot, custom build)
    • Ensure the robot’s hardware drivers expose /cmd_vel and /odom
    • Reuse your teleop, Nav2, or SLAM nodes without changing control logic
    • Compare sim vs. real performance, and tune parameters (wheel radius, odometry noise, frame IDs)