EchoTwin

Welcome to Echo Twin, an open-source, real-time digital twin in NVIDIA Omniverse. This project aims to create a simulated environment created via LiDAR.

Prerequisites

Before you begin, ensure you have the following installed on your system:

1. Compatible NVIDIA Driver
2. Docker Engine
3. NVIDIA Container Toolkit
4. A ROS 2 Sensor: A LiDAR or other sensor that publishes messages of type sensor_msgs/msg/PointCloud2.
5. (Optional) Isaac Sim WebRTC Streaming Client

Getting Started

This project is fully containerized, making setup quick and reproducible.

1. Clone the repository:

   git clone https://github.com/9LogM/project-echo.git
   cd EchoTwin

2. Configure the Node:
   Before launching, you must edit the src/config.yaml file to match your sensor's ROS 2 topics.

3. Build and run the container:

   docker compose up --build

4. View the Simulation:
   This project runs Isaac Sim in "headless" mode. To view the output, you can use a WebRTC streaming client.

   • Download and launch the Isaac Sim WebRTC Streaming Client for your operating system.
   • Connect to 127.0.0.1. You should now see the live simulation.

Contributing

Contributions are what make the open-source community such an amazing place to learn, inspire, and create. Any contributions you make are greatly appreciated.