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Changelog

[6.1.0] - 2026-06-23

Changed

  • Bumped versions for Isaac Sim pip dependency to 6.0.1.0.

[6.0.3] - 2026-06-10

Changed

  • Bumped versions for Isaac Sim pip dependency to 6.0.0.1.
  • Bumped versions for torch pip dependency to 2.11.0.

[6.0.3] - 2026-06-09

Changed

  • Pixi toml now adds Isaac Sim pip dependency.

[6.0.2] - 2026-05-19

Fixed

  • isaac_moveit: Added local panda_isaac.urdf.xacro that omits PandaHandFakeSystem to stop malformed JointState warnings on /isaac_joint_commands and the mimic-loop fault that destabilized panda_arm_controller. Extended gripper_to_isaac.py to forward finger positions from /isaac_joint_states to /joint_states for MoveIt's planning scene. [Jazzy]

[6.0.1] - 2026-05-18

Fixed

  • Added pip dependency in package.xml for h1_fullbody_controller package [Jazzy]

[6.0.0] - 2026-05-11

Changed

  • Renamed isaacsim package to isaacsim_bringup in both Humble and Jazzy workspaces [Humble, Jazzy]

[5.3.0] - 2026-05-06

Fixed

  • run_isaacsim.py: Fixed --exec quoting on Windows so the gui:= USD path opens correctly under pixi. cmd.exe does not strip single quotes, so the launcher now uses double quotes on Windows. [Humble, Jazzy]
  • run_isaacsim.py: Replaced POSIX-only start_new_session=True with creationflags=CREATE_NEW_PROCESS_GROUP on Windows for the Isaac Sim subprocess. [Humble, Jazzy]
  • run_isaacsim.py: use_internal_libs and ros_installation_path now exit with a non-zero status and a clear error on Windows instead of silently exiting 0 or continuing. [Humble, Jazzy]

Changed

  • run_isaacsim.py: dds_type is now opt-in and defaults to empty. When empty, the surrounding RMW_IMPLEMENTATION (e.g. rmw_zenoh_cpp set by pixi activation) is preserved. Explicit values map to fastdds/cyclonedds/zenoh. [Humble, Jazzy]
  • run_isaacsim.py: When install_path:= is not provided, the launcher falls back to the isaac_sim_package_path environment variable (set by pixi activation) before the version-based default. [Humble, Jazzy]

[5.2.0] - 2026-05-01

Changed

  • use_internal_libs default changed from True to False in the isaacsim package [Jazzy]. Python 3.12 on Isaac Sim allows ROS 2 system install to be sourced directly from the system, making internal lib loading unnecessary. Humble retains the default of True. Jazzy users who explicitly relied on internal libs should set use_internal_libs:=True when launching and verify their integration against Isaac Sim 6.0.
  • Converted isaacsim, cmdvel_to_ackermann, h1_fullbody_controller, and isaac_moveit packages from ament_cmake to ament_python build type [Humble, Jazzy]
  • Fixed open_isaacsim_stage.py path resolution to use get_package_share_directory instead of __file__ [Humble, Jazzy]

[5.1.0] - 2026-03-05

Changed

  • Added custom panda_isaac.urdf.xacro and gripper_to_isaac.py bridge for improved MoveIt Isaac Sim performance. [Humble]
  • Added rmw_zenoh support for Jazzy 22.04 Docker build: conditional Rust toolchain install, additional rosinstall_generator deps (tinyxml2_vendor, rmw_dds_common, fastcdr, rosidl_typesupport_fastrtps_c/cpp, rclcpp), nlohmann-json3-dev, and suppressed unused CMake variable warnings. [Jazzy]
  • Added --no-cache (-n) flag to build_ros.sh for Docker cache-free rebuilds. [Humble, Jazzy]

[5.0.0] - 2025-12-10

Added

  • Ubuntu 24.04/ROS 2 Jazzy Python 3.12 build support and new dockerfile. [Humble, Jazzy]
  • Ubuntu 22.04/ROS 2 Humble and Jazzy Python 3.12 build support and new dockerfiles. [Humble, Jazzy]
  • Added topic_based_ros2_control ros2 package as submodule to workspace [Jazzy]

Changed

  • Bumped versions to 6.0.
  • Cleaned up occupancy map parameters in Navigation packages. [Humble, Jazzy]
  • Updated helper script build_ros.sh to support new dockerfiles.
  • Updated internal libraries path to isaacsim.ros2.core in isaacsim package [Humble, Jazzy]

Removed

  • Legacy references to older Ubuntu/Python/ROS mentions from launch files, parameters and build scripts.
  • Redundant or broken dependencies from docker build stages.

[4.7.0] - 2025-12-02

Added

  • isaac_tutorials.ros2_object_id_subscriber example [Humble, Jazzy]

[4.6.0] - 2025-11-25

Changed

  • Updated h1_fullbody_controller launch to add namespace argument to enable multi-humanoid [Humble, Jazzy]
  • Switched all topics in h1_fullbody_controller to relative names to support namespaced multi-humanoid setups [Humble, Jazzy]

[4.5.1] - 2025-10-07

Changed

  • Updated MoveIt configs to mitigate timeout issues [Jazzy]

[4.5.0] - 2025-09-29

Changed

  • Updated links and bumped versions in all packages to Isaac Sim version 5.1.0 [Humble, Jazzy]

[4.4.4] - 2025-09-29

Changed

  • Updated setgoal.py in isaac_ros_navigation_goal for NavigateToPose action result handling [Humble, Jazzy]

[4.4.3] - 2025-08-14

Changed

  • .gitignore to ignore .vscode/.

[4.4.2] - 2025-08-06

Changed

  • Upgraded configs in carter_navigation and iw_hub_navigation packages for Nav2 Jazzy [Jazzy]

[4.4.1] - 2025-07-23

Changed

  • Updated links within docker build files [Humble, Jazzy]
  • Updated licenses for all scripts [Humble, Jazzy]

[4.4.0] - 2025-07-16

Added

  • Added exclude_install_path arguments in isaacsim package to allow removing certain install paths from environment variables when launching Isaac Sim [Humble, Jazzy]

Changed

  • The use_internal_libs parameter in isaacsim package is set to true by default [Humble, Jazzy]

[4.3.1] - 2025-06-11

Changed

  • Bumped versions in isaacsim package to Isaac Sim version 5.0.0 [Humble, Jazzy]
  • Updated all asset paths referenced in ROS 2 packages to Isaac Sim 5.0 convention

[4.3.0] - 2025-06-04

Added

  • Humanoid locomotion policy example [Humble, Jazzy]

[4.2.1] - 2025-06-03

Changed

  • Updating the H1 joint names in the wholebody controller package [Humble]

[4.2.0] - 2025-05-30

Added

  • Launch file in carter_navigation for running the nova carter robot description [Humble, Jazzy]

[4.1.0] - 2025-05-20

Added

  • Build scripts for Humble and Jazzy workspaces in Python 3.11 [Humble, Jazzy]

[4.0.0] - 2025-04-30

Added

  • New Jazzy workspace for Isaac Sim 5.0 [Jazzy]
  • New Moveit tutorial [Jazzy, Humble]

Changed

  • Bumped verison to Isaac Sim 5.0 [Humble]

Removed

  • Removed all Noetic packages and dockerfiles [Noetic]

[3.3.1] - 2025-01-24

Changed

  • Updated fixed frame name to base_scan in isaac_tutorials rtx_lidar.rviz config file [Humble]
  • Added point cloud topic subscriber in isaac_tutorials camera_lidar.rviz config file [Humble]

[3.3.0] - 2025-01-21

Changed

  • Updated isaacsim run_isaacsim.py to use new commands for "webrtc" headless option [Humble]
  • Removed deprecated "native" headless option from isaacsim run_isaacsim.py [Humble]

[3.2.3] - 2025-01-21

Changed

  • Changed isaacsim run_isaacsim.py to have "humble" as default distro for ROS2 [Humble]

[3.2.2] - 2024-01-20

Changed

  • Updated ros2_ackeramnn_publisher.py to publish zero-velocity on interrupt [Humble]

[3.2.1] - 2024-01-07

Changed

  • Changed isaac_tutorials ros2 ackermann publisher message frame id to "ackeramnn" [Humble]

[3.2.0] - 2024-12-16

Changed

  • Bumped versions in isaacsim package to Isaac Sim version 4.5.0 [Humble]
  • Updated all asset paths referenced in ROS 2 packages to Isaac Sim 4.5 convention

[3.1.1] - 2024-11-27

Changed

  • Updated ros2_ackeramnn_publisher.py to publish velocity command [Humble]

[3.1.0] - 2024-11-22

Added

  • cmdvel_to_ackermann package for ackeramnn control [Humble]

[3.0.1] - 2024-11-22

Fixed

  • updated ubuntu_20_humble_minimal.dockerfile to build all packages [Humble]

[3.0.0] - 2024-11-15

Removed

  • Removed all Foxy packages and dockerfiles [Foxy]

[2.1.0] - 2024-10-03

Added

  • Option in isaacsim package to launch isaac-sim.sh with custom args [Humble]

[2.0.0] - 2024-09-20

Added

  • New iw_hub_navigation package to run Nav2 with new iw.hub robot in new environment [Foxy, Humble]
  • New RViz config for TurtleBot tutorials [Noetic]
  • New RViz config and launch file with Carter robot for SLAM with gmapping

Changed

  • Bumped versions in isaacsim package to Isaac Sim version 4.2.0 [Foxy, Humble]
  • Changed carter_2dnav package to only use RTX Lidar [Noetic]
  • Updated dockerfiles to use setuptools 70.0.0 [Humble, Foxy]
  • Updated QoS settings for image subscribers in carter_stereo.rviz and carter_navigation.rviz config files. [Foxy, Humble]

[1.1.0] - 2024-08-01

Added

  • Option in isaacsim package to launch Isaac Sim in headless mode [Foxy, Humble]

Changed

  • Bumped versions in isaacsim package to Isaac Sim version 4.1.0 [Foxy, Humble]

[1.0.0] - 2024-05-28

Added

  • Ackermann publisher script for Ackermann Steering tutorial [Noetic, Foxy, Humble]
  • New isaacsim package to enable running Isaac Sim as a ROS2 node or from a ROS2 launch file! [Foxy, Humble]
  • isaac_ros2_messages service interfaces for listing prims and manipulate their attributes [Foxy, Humble]

Removed

  • Removed support for quadruped VINS Fusion example [Noetic]

[0.1.0] - 2023-12-18

Added

  • Noetic, Foxy, Humble workspaces for Isaac Sim 2023.1.1