[Demo1] Display space station in Demo1 with Issac Sim in Linux

[yuyuqq]

User Story:

• Currently Demo1 uses rviz for display. Making Demo connect with Issac Sim in Linux and let the user choose rviz or issac sim for display.
• The ROS2 part needs to bridge with Isaac Sim in Linux with appropriate model format

Acceptance Criteria:

• Demo the new version to Hiroki.
• Pull request it.

[siddarth09]

https://github.com/david-dorf/spaceros_gz_demos

can we use the urdf from this? to simulate in both gazebo and issac

[dheerubhai-101]

Hi, I think it shouldn't be an issue. Just that there is a signficant size difference in the mesh files when I tested them. Apart from that it should be fine

[dheerubhai-101]

And yeah, I remember these being defined as SDF files, so they may not be compatible with Isaac Sim. We will have to check.

[siddarth09]

https://discourse.ros.org/t/nvidia-isaac-sim-latest-release-update-with-gazebo-bridge-and-new-features/26130

check this out, i think we can convert easily to USD format for ISSAC sim easily