BenchBot Add-on: Robots for use with Isaac Sim (Omniverse)

This add-on contains robot definition files for using simulated Isaac robots. These robots have been designed to work with Omniverse-powered Isaac Sim, and tested with the current version (2021.2.1)

The following robot definitions are provided:

• carter_omni

How these were created in Omniverse

1. Start with the example Carter robot from I can't remember where the one with Carter_ROS.usd came from???
2. Make a copy of that directory
3. Edit ROS specific settings in Carter_ROS.usd, and model specific settings in Robots/Carter/carter_v1.usd (the default prim in Carter_ROS.usd references Robots/Carter/carter_v1.usd):
   • frame settings of the ROS components change the frame in the message but not the TF name
   • TF name is changed by renaming the primitives, which must be done in the carter_v1.usd file
   • for something to move relative to a prim, it must be nested underneath that prim?
4. Create a *.zip with a YAML file