Isaac Sim Remote Streaming

Purpose

Provide a repeatable process for connecting NVIDIA Isaac Sim running on a remote GPU host to the ShadowHound ROS 2 workspace.

Prerequisites

• Remote workstation with NVIDIA Isaac Sim installed and accessible via SSH.
• ShadowHound development workstation with ROS 2 Humble and Omniverse streaming client packages.
• Network path with sufficient bandwidth (≥ 50 Mbps) and latency under 100 ms.

Steps

1. Prepare the Remote Host
2. Update Isaac Sim packages and confirm licensing.
3. Configure the streaming server: bash ./isaac-sim.sh --headless --/omni/streaming/enabled=true \ --/app/content/emptyStage.usd
4. Expose Streaming Ports
5. Open TCP/UDP ports 47995-48005 on the remote firewall.
6. Verify connectivity from the local workstation using nc -zv <remote-ip> 47995.
7. Launch the ROS 2 Bridge bash source-ws ros2 launch shadowhound_bringup isaac_bridge.launch.py \ remote_ip:=<remote-ip> \ stream_fps:=30
8. Validate Video Feed
9. Start the Omniverse Streaming Client locally and point to the remote IP.
10. Confirm telemetry topics publish using ros2 topic echo /shadowhound/sim/status.

Validation

• [ ] Streaming client renders Isaac Sim viewport with <100 ms latency.
• [ ] ROS 2 bridge publishes /shadowhound/sim/status without errors.
• [ ] Networking checklist in Networking Index is satisfied.

References

• NVIDIA Isaac Sim Streaming Docs
• Autodoc Index
• Software Index