Agipix (Simulation) — Quick Guide

Use this page to set up the AgiSIM digital twin workflow and run parity experiments before real flights.

Sim overview

Simulation Setup

  • Host: Ubuntu 20.04/22.04 with NVIDIA GPU drivers.
  • Install ROS 2 Humble and NVIDIA Isaac Sim.
  • Enable ROS 2 bridge extension and configure PX4 SITL + DDS.
  • Keep the same containerized stack used on hardware for sim-to-real parity.

Read: Docker Build and Simulation Setup

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

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