安装ros2 和启用Isaac sim ros2 bridge

install ros2(humble)

locale  # check for UTF-8
apt update && apt install locales
locale-gen en_US en_US.UTF-8
update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8
locale  # verify settings

apt install software-properties-common
add-apt-repository universe

apt update && apt install curl -y
curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null

apt update
apt upgrade

apt install ros-humble-ros-base
apt install ros-dev-tools

source /opt/ros/humble/setup.bash

install vision_msgs

apt install ros-humble-vision-msgs

config fastdds

mkdir ~/.ros
nano ~/.ros/fastdds.xml

<?xml version="1.0" encoding="UTF-8" ?>

<license>Copyright (c) 2022, NVIDIA CORPORATION.  All rights reserved.
NVIDIA CORPORATION and its licensors retain all intellectual property
and proprietary rights in and to this software, related documentation
and any modifications thereto.  Any use, reproduction, disclosure or
distribution of this software and related documentation without an express
license agreement from NVIDIA CORPORATION is strictly prohibited.</license>


<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" >
    <transport_descriptors>
        <transport_descriptor>
            <transport_id>UdpTransport</transport_id>
            <type>UDPv4</type>
        </transport_descriptor>
    </transport_descriptors>

    <participant profile_name="udp_transport_profile" is_default_profile="true">
        <rtps>
            <userTransports>
                <transport_id>UdpTransport</transport_id>
            </userTransports>
            <useBuiltinTransports>false</useBuiltinTransports>
        </rtps>
    </participant>
</profiles>

set ROS environment

echo ". /opt/ros/humble/setup.bash" >> ~/.bashrc
echo "export FASTRTPS_DEFAULT_PROFILES_FILE=~/.ros/fastdds.xml" >> ~/.bashrc

enable ROS2 bridge extensions

./runheadless.native.sh -v

Window->Extensions, search for ROS2 bridge, check enable/autoload option.