Developing Robots With Software-in-the-Loop (SIL) in Isaac Sim#

Overview#

Welcome to Developing Robots With Software-in-the-Loop (SIL) in Isaac Sim. In this module, we’ll explore the fundamentals of SIL and its application in robotics development. SIL enables developers to test and validate robotics software in a simulated environment, reducing the need for physical prototyping and improving efficiency and safety.

Throughout this module, we’ll take a hands-on approach to learning, guiding you through key concepts such as SIL workflows, visual programming with OmniGraph, and testing perception models like image segmentation using Isaac Sim and ROS 2. By the end of this module, you’ll have the skills to design and execute SIL tests for your own robotics projects.

Note

This module offers a dynamic mix of learning styles to keep you engaged and build your skills effectively. Some modules are lecture-focused, providing foundational knowledge and key concepts, while others are hands-on, guiding you through practical activities in Isaac Sim. Together, these approaches will give you both the understanding and experience needed to utilize SIL in robotics development.

Learning Objectives#

In this module, we will:

  • Identify the key characteristics and challenges of intelligent robots operating in dynamic environments.

  • Explain the concept of Software-in-the-Loop and evaluate its importance in robotics development workflows.

  • Use OmniGraph in Isaac Sim to design and control a robot integrated with ROS 2.

  • Demonstrate the use of ROS 2 to perform image segmentation on pre-recorded data using the PeopleSemSegNet model.

  • Design and execute a SIL workflow by testing an image segmentation package in Isaac Sim with simulated camera input.

In this first module, we will introduce the concept of intelligent robots and the challenges of developing them. We will also explore how SIL can simplify the development process by allowing us to test and validate software in a simulated environment before deploying it on a real robot. Let’s get started.