Module 3: Hands-On Lab

🎯 Lab Objectives

Integrate Isaac Sim, Isaac ROS, and Nav2 for autonomous humanoid navigation.

🛠️ Lab Setup

# Install Isaac ROS
sudo apt install ros-humble-isaac-ros-visual-slam ros-humble-isaac-ros-dnn-inference

# Install Nav2
sudo apt install ros-humble-navigation2 ros-humble-nav2-bringup

📝 Complete Navigation System

import rclpy
from rclpy.node import Node
from nav2_simple_commander.robot_navigator import BasicNavigator
from geometry_msgs.msg import PoseStamped

class AutonomousHumanoid(Node):
    def __init__(self):
        super().__init__('autonomous_humanoid')
        self.navigator = BasicNavigator()
        
        # Wait for Nav2
        self.navigator.waitUntilNav2Active()
        
        # Define waypoints
        self.waypoints = [
            (2.0, 0.0, 0.0),
            (2.0, 2.0, 1.57),
            (0.0, 2.0, 3.14),
            (0.0, 0.0, 0.0)
        ]
        
        self.navigate_waypoints()
    
    def navigate_waypoints(self):
        for x, y, theta in self.waypoints:
            goal = self.create_pose(x, y, theta)
            self.navigator.goToPose(goal)
            
            while not self.navigator.isTaskComplete():
                rclpy.spin_once(self, timeout_sec=0.1)
            
            self.get_logger().info(f'Reached waypoint ({x}, {y})')
    
    def create_pose(self, x, y, theta):
        pose = PoseStamped()
        pose.header.frame_id = 'map'
        pose.header.stamp = self.get_clock().now().to_msg()
        pose.pose.position.x = x
        pose.pose.position.y = y
        pose.pose.orientation.z = theta
        return pose

def main():
    rclpy.init()
    node = AutonomousHumanoid()
    rclpy.spin(node)
    rclpy.shutdown()

🎯 Expected Results

• ✅ Isaac Sim environment running
• ✅ VSLAM tracking robot position
• ✅ Nav2 planning collision-free paths
• ✅ Humanoid navigating autonomously

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