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WIP feat/stretch-isaac #100

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WIP feat/stretch-isaac #100

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61cf589
feat: a simple worksspace for stretch3 isaacsim
JustinShih0918 Dec 26, 2025
5cb8dd7
feat: usd file import needed assets
JustinShih0918 Dec 26, 2025
1d28f09
feat: add ros2 differential drive controller
JustinShih0918 Jan 17, 2026
b45cf04
feat: add RTX RP Lidar S2E on stretch3
JustinShih0918 Jan 17, 2026
e74b922
feat: add tf to robot
JustinShih0918 Jan 18, 2026
67fa671
feat: add imu sensor and rviz
JustinShih0918 Jan 18, 2026
6e537f0
feat: add isaac sim support for realsense camera and rviz config
yuhsiang1117 Jan 18, 2026
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4 changes: 3 additions & 1 deletion stretch3_ws/.gitignore
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Original file line number Diff line number Diff line change
@@ -1,10 +1,12 @@
# Visual Studio Code
.vscode

# ROS2 basic directories
# ROS basic directories
/build
/install
/devel
/log
/install

# Hard Links
/docker/modules
2 changes: 1 addition & 1 deletion stretch3_ws/docker/Dockerfile
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Expand Up @@ -171,4 +171,4 @@ COPY --chown=$USERNAME:$USERNAME \
.bashrc /home/$USERNAME/.bashrc
# TODO: Copy additional files here
ENTRYPOINT []
CMD ["/bin/bash"]
CMD ["/bin/bash"]
13 changes: 3 additions & 10 deletions stretch3_ws/docker/compose.yaml
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Expand Up @@ -10,14 +10,7 @@ services:
mkdir -p /isaac-sim/{logs,data,documents} &&
mkdir -p /isaac-sim/standalone/cache/ov &&
mkdir -p /isaac-sim/standalone/{logs,data} &&
chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim &&
chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/cache &&
chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/cache/{kit,ov,pip,glcache,computecache} &&
chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/{logs,data,documents} &&
chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone &&
chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/cache &&
chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/cache/ov &&
chown ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim/standalone/{logs,data}
chown -R ${USER_UID:-1000}:${USER_UID:-1000} /isaac-sim
"
volumes:
- isaac-sim-cache:/isaac-sim
Expand All @@ -43,9 +36,9 @@ services:
# TODO: Set to "YES" if using Isaac ROS or set to "" if not using Isaac ROS
# ISAAC_ROS: ""
# TODO: Set to "YES" if using Cartographer or set to "" if not using Cartographer
CARTOGRAPHER: "YES"
# CARTOGRAPHER: ""
# TODO: Set to "YES" if using RTAB-Map or set to "" if not using RTAB-Map
RTABMAP: "YES"
# RTABMAP: ""
cache_from:
- j3soon/ros2-stretch3-ws:buildcache-amd64
- j3soon/ros2-stretch3-ws:buildcache-arm64
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