Simulate and Localize a Husky Robot with NVIDIA Isaac

In this demo, the Husky robot is equipped with an NVIDIA Jetson Orin Nano and a ZED 2 camera mounted on top. The robot is driven using NVIDIA Isaac ROS 2, which includes packages for localization, map building, and Apriltag detection. The demo provides a visualization of the robot in ROS visualization and also loads it into NVIDIA Isaac Sim. The script generates a graph for each camera to publish the output in a ROS 2 topic. The robot is fully localized and capable of building a 3D map. There are two ways to run this demo: directly from your workstation or using a hardware-in-the-loop (HIL) configuration. The required components for the HIL version include an x86/64 machine with Ubuntu 22.04, an NVIDIA RTX GPU, an NVIDIA Jetson Orin Nano Developer Kit, and a router. The demo provides step-by-step instructions for setting up and running the demo in both versions.