Linux PC setup

Ubuntu setup

Install Ubuntu 22.04

Install NVIDIA driver

Official Isaac ROS Documentation - Isaac Sim Driver Requirements

sudo apt-get install nvidia-driver-525

Isaac Sim setup

Install Omniverse Launcher

Download Omniverse Launcher

Link for Linux

Install Omnivese Launcher

sudo apt install libfuse2
chmod +x ./omniverse-launcher-linux.AppImage
./omniverse-launcher-linux.AppImage

Install Isaac Sim

Official Isaac ROS Documentation - Workstation Installation

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Install Release 2023.1.1.

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Foxglove setup

Install Foxglove

Download and install.

wget https://get.foxglove.dev/desktop/latest/foxglove-studio-1.87.0-linux-amd64.deb
sudo apt install ./foxglove-studio-*.deb

Install the ROS bridge

source /opt/ros/
sudo apt install ros-$ROS_DISTRO-foxglove-bridge

Save pre-made layout config locally

Start the Foxglove Bridge

ros2 launch foxglove_bridge foxglove_bridge_launch.xml

Then start the Foxglove Studio from GUI or CUI.

foxglove-studio

Click on "Open connection"

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Select "Foxglove WebSocket", leave the WebSocket URL as ws://localhost:8765 and click on "Open".

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For viewing the camera images published, and controlling the robot by publishing /cmd_vel messages, you can setup a layout like this to enable "FPV tele-operation".

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Save the layout config to a local file for use later.
Click the Foxglove icon at the top left corner, select View > Export layout to file ....

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Name it foxglove_fpv_layout.json or something appropriate and save it under the home directory.