Getting Started - uic-evl/DOE_DigitalTwin GitHub Wiki

Welcome to the DOE/UIC Robotic Digital Twin GitHub!

In this repository, you will find guides on creating robotic digital twins, specifically of robotic arms, in Omniverse and Unity. We have several sample Unity projects, as well as scripts and guides for setting up USD stages in Omniverse.

There are many different ways to configure all the necessary parts. Generally speaking, we have worked to support configurations that use:

• Windows 10, 11, and Ubuntu
• ZeroMQ, RabbitMQ, and ROS
• Omniverse Isaac Sim, USD Composer, and Unity.

Between different possible configurations, there is a lot of redundant set up with slight variations.

There are two major constraints that lead to one configuration over another.

1. ROS2 cannot run natively on Windows 11. You may run it within WSL, but this makes the network discovery complicated, and you will not be able to communicate with your robot without writing some custom networking nodes.
2. Running a VR HMD from an Ubuntu machine is not as plug-and-play as it is on Windows. Thus, Windows is preferred for all VR user interface applications.