roboracer_isaacsim

Rendering Settings

For best performance, configure the following in the Isaac Sim GUI (top-right corner):

• DLSS: Enable NVIDIA DLSS FPS Multiplier (2x–4x)
• Mode: Set to Performance
• Camera: Set to Camera -> DroneCamera for aerial view

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Installation

1. Clone Repository and Initialize Submodules

git clone <your-repo-url>
cd roboracer_isaacsim
git submodule update --init --recursive

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2. Build and Start the Container

Ensure the NVIDIA Container Toolkit is installed on your host system.

xhost +local:docker
sudo docker compose up -d --build

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3. Build the ROS 2 Workspace

Enter the container and compile the ROS 2 workspace:

sudo docker exec -it isaacsim-5.1 bash
cd /workspace/IsaacSim-ros_workspaces/jazzy_ws
rosdep install -i --from-path src --rosdistro jazzy -y
colcon build --symlink-install
source install/local_setup.bash

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Usage

Run the Simulator

Inside the container terminal:

/isaac-sim/isaac-sim.sh

from the isaacsim file, open assets pump track or straight track

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Run Planning Nodes

Open a new host terminal and enter the container:

sudo docker exec -it isaacsim-5.1 bash
source /workspace/IsaacSim-ros_workspaces/jazzy_ws/install/local_setup.bash

Run your planning node (replace <node_name> with your actual node):

cd /workspace/IsaacSim-ros_workspaces/jazzy_ws/install/local_setup.bash

export LD_LIBRARY_PATH=/usr/lib/x86_64-linux-gnu:/lib/x86_64-linux-gnu:$LD_LIBRARY_PATH 3:17
ros2 launch cmdvel_to_ackermann cmdvel_to_ackermann.launch.py acceleration:=2.0 steering_velocity:=0.5

run teleop to test if the car is running

ros2 run teleop_twist_keyboard teleop_twist_keyboard

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## Directory Mapping

The following host directories are mapped into the container:

./assets -> /workspace/assets ./f1tenth_planning -> /workspace/f1tenth_planning ./IsaacSim-ros_workspaces -> /workspace/IsaacSim-ros_workspaces