AirStack Scene Setup¶

Creating a New Scene with Robots¶

The easiest way is to reference and copy an existing scene.

ROS Publishers Through OmniGraph¶

Configure Robot Name, ROS_DOMAIN_ID, and Topic Namespaces¶

Under the Spirit drone prim is an ActionGraph component, which is an Omnigraph. This component is used to configure the ROS publishers for the robot. The ActionGraph component has the following fields to configure:

robot_name: The name of the robot. This is used as the top-level namespace for ROS topics.
domain_id: The ROS domain ID. This is used as the ROS_DOMAIN_ID for DDS networking.

The Omnigraph has subgraphs for each ROS publisher type. For example, TFs, Images, and PointClouds. The top-level robot_name and domain_id fields get fed into the subgraphs. The Topic Namespaces field should be set to the topic namespace in the subgraphs. This is used to namespace the ROS topics.

Image of omnigraphs

Customizing the Omnigraph¶

Common pre-built graphs for ROS may be added through the top menu bar: Isaac Utils > Common OmniGraphs. This is helpful for creating various sensor publishers.

We recommend organizing your work into sub-graphs. Copy your omnigraph template them into the top-level Omnigraph component, named "ActionGraph". Connect the robot_name and domain_id fields to your workflow. Then, select all the nodes in your workflow, right-click, and create a subgraph.