Record Isaac ROS Turtlebot3 Images

Record Without Any Objects

(1)Launch Ros2 Common container 

cd ${ISAAC_ROS_WS}/src
cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
  ./scripts/run_dev.sh ${ISAAC_ROS_WS}

(2)See Topics 

ros2 topic list

Ros2Cameras24

(3)Record the topics that are being subscribed
Command: 

ros2 bag record -o turtlemes2 /cmd_vel /parameter_events /rgb /rosout

(4)Display information about a ROS 2 bag file
turtlemes2 

ros2 bag info turtlemes2

Ros2Cameras25
(6)Play the recorded Ros2 bag file
turtlemes2 

ros2 bag play turtlemes2

Ros2Cameras27

(7)Check by echoing the message
turtlemes2 

ros2 topic echo /cmd_vel

Ros2Cameras26 

ros2 topic echo /rgb

Ros2Cameras28

Ros2bag Data Files: turtlemes2: https://drive.google.com/drive/folders/1nUen8gcKWVbZOp92moKA_A-Y1Cqvbxzt?usp=sharing

Record With the object Cone

Move Forward

(1)Add the object Cone
Create > Shape > Cone
(2) Transform Configuration
Cone Transform Configuration
Turtlebot3_Record2
Turtlebot3 Burger Configuration
Turtlebot3_Record1
turtle_Camera Position Configuration
(Modified the translate Z axis to 0.3)
Turtlebot3_Record3
(3)Launch Ros2 Common container in both terminals 

cd ${ISAAC_ROS_WS}/src
cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
  ./scripts/run_dev.sh ${ISAAC_ROS_WS}

(4)See Topics
Terminal1: 

ros2 topic list

Turtlebot3_Record4
(5)Drive the robot forward
Let’s drive it forward with the command:
Terminal2: 

ros2 topic pub /cmd_vel geometry_msgs/Twist '{linear:  {x: 0.2, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}'

(6)Record the topics that are being subscribed
Terminal1: 

ros2 bag record -o turtlemescone1 /cmd_vel /parameter_events /rgb /rosout

Turtlebot3_Record5
(6)Display information about a ROS 2 bag file
turtlemescone1
Terminal1: 

ros2 bag info turtlemescone1

Turtlebot3_Record6

(7)Play the recorded Ros2 bag file
turtlemescone1
Terminal1: 

ros2 bag play turtlemescone1

Turtlebot3_Record9

(8)Check by echoing the message
turtlemes2
Terminal3: 

cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
  ./scripts/run_dev.sh ${ISAAC_ROS_WS}
ros2 topic echo /cmd_vel

Turtlebot3_Record7 

ros2 topic echo /rgb

Turtlebot3_Record8

Ros2bag Data Files:
turtlemescone1: https://drive.google.com/drive/folders/1nUen8gcKWVbZOp92moKA_A-Y1Cqvbxzt?usp=sharing

Move Using Teleop Keyboard

(1)Add the object Cone

(2)Same as above
(3)Launch Ros2 Common container in both terminals 

cd ${ISAAC_ROS_WS}/src
cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
  ./scripts/run_dev.sh ${ISAAC_ROS_WS}

(4)See Topics
Terminal1: 

ros2 topic list

(5)Drive the robot using teleopkeyboard
Let’s drive the robot anyway we want with the command:
Terminal2: 

sudo apt-get install ros-humble-teleop-twist-keyboard
ros2 run teleop_twist_keyboard teleop_twist_keyboard

(6)Record the topics that are being subscribed
Terminal1: 

ros2 bag record -o turtlemescone2 /cmd_vel /parameter_events /rgb /rosout

(7)Display information about a ROS 2 bag file
turtlemescone1
Terminal1: 

ros2 bag info turtlemescone2

(8)Play the recorded Ros2 bag file
turtlemescone1
Terminal1: 

ros2 bag play turtlemescone2

Record With the object Cube

Move Forward

(1)Add the object Cube
Create > Shape > Cube
(2) Transform Configuration
Cube Transform Configuration
Turtlebot3_Record17
Turtlebot3 Burger Configuration
Turtlebot3_Record12
turtle_Camera Position Configuration
Turtlebot3_Record10
(3)Launch Ros2 Common container 

cd ${ISAAC_ROS_WS}/src
cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
  ./scripts/run_dev.sh ${ISAAC_ROS_WS}

(4)See Topics 

ros2 topic list

Turtlebot3_Record18
(5)Drive the robot forward
Let’s drive it forward with the command:
Terminal2: 

ros2 topic pub /cmd_vel geometry_msgs/Twist '{linear:  {x: 0.2, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}'

(6)Record the topics that are being subscribed
Terminal1:
Command: 

ros2 bag record -o turtlemescube1 /cmd_vel /parameter_events /rgb /rosout

Turtlebot3_Record19
(7)Display information about a ROS 2 bag file
Terminal1:
turtlemescube1 

ros2 bag info turtlemescube1

Turtlebot3_Record20
(8)Play the recorded Ros2 bag file
turtlemescube1
Terminal1: 

ros2 bag play turtlemescube1

(9)Check by echoing the message
turtlemescube1
Terminal3: 

cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
  ./scripts/run_dev.sh ${ISAAC_ROS_WS}
ros2 topic echo /cmd_vel

Turtlebot3_Record21 

ros2 topic echo /rgb

Turtlebot3_Record22
Ros2bag Data Files: turtlemescube1: https://drive.google.com/drive/folders/1nUen8gcKWVbZOp92moKA_A-Y1Cqvbxzt?usp=sharing

Move Using Teleop Keyboard

(1)Add the object Cube
(2)Same as above
(3)Launch Ros2 Common container in both terminals 

cd ${ISAAC_ROS_WS}/src
cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
  ./scripts/run_dev.sh ${ISAAC_ROS_WS}

(4)See Topics
Terminal1: 

ros2 topic list

(5)Drive the robot using teleopkeyboard
Let’s drive the robot anyway we want with the command:
Terminal2: 

sudo apt-get install ros-humble-teleop-twist-keyboard
ros2 run teleop_twist_keyboard teleop_twist_keyboard

(6)Record the topics that are being subscribed
Terminal1: 

ros2 bag record -o turtlemescube2 /cmd_vel /parameter_events /rgb /rosout

(7)Display information about a ROS 2 bag file
turtlemescone1
Terminal1: 

ros2 bag info turtlemescube2

(8)Play the recorded Ros2 bag file
turtlemescone1
Terminal1: 

ros2 bag play turtlemescube2

Record With the object Cylinder

Move Forward

(1)Add the object Cylinder
Create > Shape > Cylinder
(2) Transform Configuration
Cylinder Transform Configuration
Turtlebot3_Record23
Turtlebot3 Burger Configuration
Turtlebot3_Record24
turtle_Camera Position Configuration
Turtlebot3_Record25
(3)Launch Ros2 Common container 

cd ${ISAAC_ROS_WS}/src
cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
  ./scripts/run_dev.sh ${ISAAC_ROS_WS}

(4)See Topics 

ros2 topic list

Turtlebot3_Record26
(5)Drive the robot forward
Let’s drive it forward with the command:
Terminal2: 

ros2 topic pub /cmd_vel geometry_msgs/Twist '{linear:  {x: 0.2, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}'

(6)Record the topics that are being subscribed
Terminal1:
Command: 

ros2 bag record -o turtlemescylinder1 /cmd_vel /parameter_events /rgb /rosout

Turtlebot3_Record27
(7)Display information about a ROS 2 bag file
Terminal1:
turtlemescylinder1 

ros2 bag info turtlemescylinder1

Turtlebot3_Record28
(8)Play the recorded Ros2 bag file
turtlemescylinder1
Terminal1: 

ros2 bag play turtlemescylinder1

(9)Check by echoing the message
turtlemescylinder1
Terminal3: 

cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
  ./scripts/run_dev.sh ${ISAAC_ROS_WS}
ros2 topic echo /cmd_vel

Turtlebot3_Record29 

ros2 topic echo /rgb

Turtlebot3_Record30 878314b9)
Ros2bag Data Files:
turtlemescylinder1: https://drive.google.com/drive/folders/1nUen8gcKWVbZOp92moKA_A-Y1Cqvbxzt?usp=sharing

Move Using Teleop Keyboard

(1)Add the object Cylinder
(2)Same as above
(3)Launch Ros2 Common container in both terminals 

cd ${ISAAC_ROS_WS}/src
cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
  ./scripts/run_dev.sh ${ISAAC_ROS_WS}

(4)See Topics
Terminal1: 

ros2 topic list

(5)Drive the robot using teleopkeyboard
Let’s drive the robot anyway we want with the command:
Terminal2: 

sudo apt-get install ros-humble-teleop-twist-keyboard
ros2 run teleop_twist_keyboard teleop_twist_keyboard

(6)Record the topics that are being subscribed
Terminal1: 

ros2 bag record -o turtlemescube2 /cmd_vel /parameter_events /rgb /rosout

(7)Display information about a ROS 2 bag file
turtlemescone1
Terminal1: 

ros2 bag info turtlemescube2

(8)Play the recorded Ros2 bag file
turtlemescone1
Terminal1: 

ros2 bag play turtlemescube2

Record With the object Sphere

Move Forward

(1)Add the object Sphere
Create > Shape > Sphere
(2) Transform Configuration
Sphere Transform Configuration
Turtlebot3_Record32
Turtlebot3 Burger Configuration
Turtlebot3_Record33
turtle_Camera Position Configuration
Turtlebot3_Record34
(3)Launch Ros2 Common container in both terminals 

cd ${ISAAC_ROS_WS}/src
cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
  ./scripts/run_dev.sh ${ISAAC_ROS_WS}

(4)See Topics
Terminal1: 

ros2 topic list

Turtlebot3_Record35
(5)Drive the robot forward
Let’s drive it forward with the command:
Terminal2: 

ros2 topic pub /cmd_vel geometry_msgs/Twist '{linear:  {x: 0.2, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}'

(6)Record the topics that are being subscribed
Terminal1:
Command: 

ros2 bag record -o turtlemessphere1 /cmd_vel /parameter_events /rgb /rosout

Turtlebot3_Record40
(7)Display information about a ROS 2 bag file
Terminal1:
turtlemessphere1 

ros2 bag info turtlemessphere1

Turtlebot3_Record36
(8)Play the recorded Ros2 bag file
turtlemessphere1
Terminal1: 

ros2 bag play turtlemessphere1

Turtlebot3_Record39
(9)Check by echoing the message
turtlemessphere1
Terminal3: 

cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
  ./scripts/run_dev.sh ${ISAAC_ROS_WS}
ros2 topic echo /cmd_vel

Turtlebot3_Record37 

ros2 topic echo /rgb

Turtlebot3_Record38

Ros2bag Data Files:
turtlemescone1: https://drive.google.com/drive/folders/1nUen8gcKWVbZOp92moKA_A-Y1Cqvbxzt?usp=sharing

Move Using Teleop Keyboard

Move Forward

(1)Add the object Cylinder
(2)Same as above
(3)Launch Ros2 Common container in both terminals 

cd ${ISAAC_ROS_WS}/src
cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
  ./scripts/run_dev.sh ${ISAAC_ROS_WS}

(4)See Topics
Terminal1: 

ros2 topic list

(5)Drive the robot using teleopkeyboard
Let’s drive the robot anyway we want with the command:
Terminal2: 

sudo apt-get install ros-humble-teleop-twist-keyboard
ros2 run teleop_twist_keyboard teleop_twist_keyboard

(6)Record the topics that are being subscribed
Terminal1: 

ros2 bag record -o turtlemescube2 /cmd_vel /parameter_events /rgb /rosout

(7)Display information about a ROS 2 bag file
turtlemescone1
Terminal1: 

ros2 bag info turtlemescube2

(8)Play the recorded Ros2 bag file
turtlemescone1
Terminal1: 

ros2 bag play turtlemescube2

Record With the object Capsule

Move Forward

(1)Add the object Capsule
Create > Shape > Capsule
(2) Transform Configuration
Capsule Transform Configuration
Turtlebot3_Record41
Turtlebot3 Burger Configuration
Turtlebot3_Record42
turtle_Camera Position Configuration
Turtlebot3_Record43
(3)Launch Ros2 Common container in both terminals 

cd ${ISAAC_ROS_WS}/src
cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
  ./scripts/run_dev.sh ${ISAAC_ROS_WS}

(4)See Topics
Terminal1: 

ros2 topic list

Turtlebot3_Record45
(5)Drive the robot forward
Let’s drive it forward with the command:
Terminal2: 

ros2 topic pub /cmd_vel geometry_msgs/Twist '{linear:  {x: 0.2, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}'

(6)Record the topics that are being subscribed
Terminal1:
Command: 

ros2 bag record -o turtlemescapsule1 /cmd_vel /parameter_events /rgb /rosout

Turtlebot3_Record44
(7)Display information about a ROS 2 bag file
Terminal1:
turtlemescapsule1 

ros2 bag info turtlemescapsule1

Turtlebot3_Record46
(8)Play the recorded Ros2 bag file
turtlemescapsule1
Terminal1: 

ros2 bag play turtlemescapsule1

Turtlebot3_Record49

(9)Check by echoing the message
turtlemescapsule1
Terminal3: 

cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
  ./scripts/run_dev.sh ${ISAAC_ROS_WS}
ros2 topic echo /cmd_vel

Turtlebot3_Record47 

ros2 topic echo /rgb

Turtlebot3_Record48
Ros2bag Data Files:
turtlemescapsule1: https://drive.google.com/drive/folders/1nUen8gcKWVbZOp92moKA_A-Y1Cqvbxzt?usp=sharing

Move Using Teleop Keyboard

(1)Add the object Capsule
(2)Transform Configuration
Capsule Transform Configuration
Capsule
Turtlebot3_Record50
Capsule_01
Turtlebot3_Record51
Capsule_02
Turtlebot3_Record52
Capsule_03
Turtlebot3_Record53
Capsule_04
Turtlebot3_Record54
Capsule_05
Turtlebot3_Record55
Capsule_06
Turtlebot3_Record59
Capsule_07
Turtlebot3_Record57
Capsule_08
Turtlebot3_Record58
Turtlebot3_Record60
(3)Launch Ros2 Common container in both terminals 

cd ${ISAAC_ROS_WS}/src
cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
  ./scripts/run_dev.sh ${ISAAC_ROS_WS}

(4)See Topics
Terminal1: 

ros2 topic list

Turtlebot3_Record61
(5)Drive the robot using teleopkeyboard
Let’s drive the robot anyway we want with the command:
Terminal2: 

sudo apt-get install ros-humble-teleop-twist-keyboard
ros2 run teleop_twist_keyboard teleop_twist_keyboard

Turtlebot3_Record62
Turtlebot3_Record64

(6)Record the topics that are being subscribed
turtlemescapsule2
Terminal1: 

ros2 bag record -o turtlemescapsule2 /cmd_vel /parameter_events /rgb /rosout

Turtlebot3_Record63
turtlemescapsule3 

ros2 bag record -o turtlemescapsule3 /cmd_vel /parameter_events /rgb /rosout

Turtlebot3_Record68

(7)Display information about a ROS 2 bag file
turtlemescone1
Terminal1: 

ros2 bag info turtlemescapsule2

Turtlebot3_Record65
turtlemescapsule3 

ros2 bag info turtlemescapsule3

Turtlebot3_Record69

(8)Play the recorded Ros2 bag file
turtlemescapsule2
Terminal1: 

ros2 bag play turtlemescapsule2

Turtlebot3_Record67
turtlemescapsule3 

ros2 bag play turtlemescapsule3

Turtlebot3_Record71
(9)Check by echoing the message
turtlemescapsule2
Terminal3: 

cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
  ./scripts/run_dev.sh ${ISAAC_ROS_WS}
ros2 topic echo /rgb

Turtlebot3_Record66
turtlemescapsule3
Terminal3: 

cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
  ./scripts/run_dev.sh ${ISAAC_ROS_WS}
ros2 topic echo /rgb

Turtlebot3_Record70

ros2 bags:
turtlemescapsule2:
https://drive.google.com/drive/folders/18WyccbhulqKnjPW6mPtuT0crya-w3QMN?usp=sharing
turtlemescapsule3:
https://drive.google.com/drive/folders/1gF_7MbRa_m8UKnjpL8YCe07fuopdP__W?usp=sharing