Course 1 - Getting Started: Simulating Your First Robot in Isaac Sim

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This course covers the process of creating a robot from scratch and how to drive it around in Isaac Sim. We also add sensors and connect ROS2 in order to access the sensor data.

Module 1: Building a Simple Robot

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What is the difference between a shape and a mesh?

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What are prims and xforms?

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What are colliders?

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What are rigid bodies?

Module 2: Controlling the Robot

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What is a differential controller?

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What is an articulation and articulation root?

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What is an action graph/OmniGraph?

Module 3: Adding Sensors

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What are the different types of joints?

Module 4: Accessing Data

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If you’re on Windows, follow the Windows version of instructions for Running Native ROS, which involves installing Ubuntu on WSL2: ROS and ROS 2 Installation — Isaac Sim Documentation

On the Microsoft Store, you can specifically download Ubuntu 22.04, whereas the command provided in the instructions downloads the latest version automatically.

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What is ROS 2?

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What are publishers, subscribers, and topics?