Agipix (Simulation) — Quick Guide

Use this page to jump into the simulation setup. It stays brief and links to the full guide.

Sim overview

Simulation Setup

  • Host: Ubuntu 20.04/22.04, NVIDIA GPU/driver; optional Dockerized workflow via isaac_ros_common (branch agipix-sim).
  • Install ROS 2 Humble and NVIDIA Omniverse Isaac Sim; enable the ROS 2 bridge extension.
  • (Optional) Nucleus Server for assets; tmux for session management.
  • PX4 SITL build and param tweak for DDS sync; ensure ROS 2 nodes use use_sim_time.
  • NVIDIA Container Toolkit + Docker/Portainer if running inside containers.

Run the Simulation

  • Start Isaac Sim (first launch can take a while) and ensure the ROS 2 bridge is active.
  • In the container/session, build and run the control stack; follow the provided tmux panes.
  • Connect visualization via Foxglove at ws://localhost:8765 (see details in the setup doc).

Quadrotor Simulation of 3D mapping of cluttered environment in IsaacSIM using PX4 and ROS2 - Agipix

Next steps

  • Continue to autonomy stack:

  • UI/teleop and mission flows:

Looking for the real robot guide? See:

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