本文最后更新于 2020-04-15 ，文中内容可能已过时。
参考:
https://docs.nvidia.com/isaac/isaac/doc/overview.html
https://developer.nvidia.com/isaac-sdk
application framework
Isaac Engine是一个软件框架 ，可轻松构建模块化机器人应用程序。它为智能机器人提供了高性能的数据处理和深度学习。在Isaac机器人引擎上开发的机器人应用程序可以在NVIDIA®Jetson AGX Xavier™和NVIDIA®Jetson Nano™等边缘设备以及具有离散NVIDIA®GPU的工作站（例如T4）上无缝运行。
packages with high-performance robotics algorithms
GEMs是用于感应，规划或驱动的模块化功能，可以轻松插入机器人应用程序中。例如，开发人员可以添加障碍物检测，立体声深度估计或人类语音识别，以丰富其机器人用例。
reference applications
a powerful simulation platform
Isaac Sim是虚拟机器人实验室和高保真3D世界模拟器，可通过降低成本和风险来加速研究，设计和开发。
Env:
Ubuntu18.04.1 (Nvidia Driver 440, cuda10.0, GPU算力 >= 3.5)
Nano: Jetpack4.3
下载 Isaac SDK和Isaac Sim, 分别解压到 ~/isaac_sdk 和 ~/isaac_sim_unity3d
添加镜像源:
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sudo vi /etc/apt/sources.list
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deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
ideb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
安装pip3
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curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py
python3 get-pip.py
# 修改为豆瓣源
sudo pip3 config set global.index-url https://pypi.doubanio.com/simple/
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cd ~/isaac_sdk
engine/build/scripts/install_dependencies.sh
Installing Dependencies on Robots:
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cd ~/isaac_sdk
# engine/build/scripts/install_dependencies_jetson.sh -u <jetson_username> -h <jetson_ip>
engine/build/scripts/install_dependencies_jetson.sh -u nona -h 192.168.20.155
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sudo apt install curl gnupg
curl https://bazel.build/bazel-release.pub.gpg | sudo apt-key add -
echo "deb [arch=amd64] https://storage.googleapis.com/bazel-apt stable jdk1.8" | sudo tee /etc/apt/sources.list.d/bazel.list
sudo apt update && sudo apt install bazel
# Ubuntu 18.04 (LTS) uses OpenJDK 11 by default:
sudo apt install openjdk-11-jdk
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sudo add-apt-repository ppa:graphics-drivers/ppa
sudo apt-get update
sudo apt-get install nvidia-driver-440
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# 下载.run脚本并运行, 注: 只安装cuda tool kit, 不安装driver
wget https://developer.download.nvidia.cn/compute/cuda/10.0/secure/Prod/local_installers/cuda_10.0.130_410.48_linux.run
sudo sh cuda_10.0.130_410.48_linux.run
在vim ~/.bashrc的最后加上以下配置信息
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export CUDA_HOME=/usr/local/cuda-10.0
export LD_LIBRARY_PATH=${CUDA_HOME}/lib64
export PATH=${CUDA_HOME}/bin:${PATH}
使用命令source ~/.bashrc使配置生效
https://forum.unity.com/threads/unity-hub-v-1-3-2-is-now-available.594139/
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wget https://public-cdn.cloud.unity3d.com/hub/prod/UnityHub.AppImage
chmod +x UnityHub.AppImage
./UnityHub.AppImage
When the Unity Hub application opens, follow these steps to install the Unity Editor:
Click the person icon in the upper right and select Sign in . Sign in with your Unity ID. Select Installs on the left, then select Add . In the Add Unity Version popup window, install 2019.3.x (no modules are required). The sample project for IsaacSim Unity3D is created with 2019.3.0f6, so any newer 2019.3 version can be used. 1
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cd ~/isaac_sdk
bazel build //apps/samples/stereo_dummy
bazel run //apps/samples/stereo_dummy
应用运行后,可在浏览器打开http://localhost:3000
将应用部署运行在Jetson上:
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# 配置desktop免密登录Jetson
ssh-keygen
ssh-copy-id -i ~/.ssh/id_rsa.pub nona@192.168.20.155
# deploy the package to the robot
cd ~/isaac_sdk
# ./engine/build/deploy.sh --remote_user <username_on_robot> -p //apps/samples/stereo_dummy:stereo_dummy-pkg -d jetpack43 -h <robot_ip>
./engine/build/deploy.sh --remote_user nona -p //apps/samples/stereo_dummy:stereo_dummy-pkg -d jetpack43 -h 192.168.20.155
在Jetson上运行 :
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# ssh ROBOTUSER@ROBOTIP
ssh nona@192.168.20.155
# deep为desktop的用户名
cd deploy/deep/stereo_dummy-pkg
./apps/samples/stereo_dummy/stereo_dummy
# 应用运行后浏览器打开192.168.20.155:3000
也可以部署到Jetson同时运行App,加 --run
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./engine/build/deploy.sh --remote_user nona -p //apps/samples/stereo_dummy:stereo_dummy-pkg -d jetpack43 -h 192.168.20.155 --run
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bazel build //apps/samples/v4l2_camera
bazel run //apps/samples/v4l2_camera
./engine/build/deploy.sh --remote_user nona -p //apps/samples/v4l2_camera:v4l2_camera-pkg -d jetpack43 -h 192.168.20.155 --run
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# start the simulator with the “small_warehouse” scene
cd ~/isaac_sim_unity3d/builds
./sample.x86_64 --scene small_warehouse -logFile -
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# run the Isaac SDK application with the Carter navigation stack
cd ~/isaac_sdk
bazel run //apps/navsim:navsim_navigate
