11. The Ignition-Omniverse connector with Gazebo¶
The Ignition-omniverse connector (
ign-omni) is an experimental, linux only feature that facilitates interactions between Gazebo and Isaac-sim. There
are three ways in which these interactions can occur using the Ignition-Omniverse connector.
SDF / USD file conversion
ign-omnicomes with a tool that can be used to convert from SDF to USD and visa versa, allowing the user to easily migrate assets between Isaac-sim and Gazebo.
Ignition - Nucleus communication
ign-omniprovides an interface to a nucleus server, allowing multiple gazebo simulations to live sync with each other through a shared USD stage.
Isaac-sim - Ignition hybrid simulation
Because the connector provides an interface to nucleus servers, it is possible to stream data directly into and out of two simulations: one running Gazebo, and the other running Isaac-sim. The
ign-omniconnector is designed to support this use case. For example, Gazebo might be used for planning, while Isaac-sim is used to simulate sensors: joint control signals would then stream from Gazebo to Isaac-sim, while processed sensory data would stream from Isaac-sim to Gazebo.
This feature has only been tested on Ubuntu 20.04