Using the create_workspace.sh script, and remove the minimal_pkg as it is not used here.

Command: git clone  --recursive https://github.com/stereolabs/zed-ros2-wrapper.git
Branch: master
Reference: https://github.com/stereolabs/zed-ros2-wrapper/tree/5368f79d200ca89ecb39935751563ef64a4c8bf0

Reference:
- https://www.stereolabs.com/docs/docker/install-guide-linux
- https://hub.docker.com/r/stereolabs/zed/tags?page=1&name=22.04

Branch: master
Reference: https://github.com/stereolabs/zed-ros2-examples/tree/1a1299e250c45aa25a18da03e480053e0b387008

Reference: https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html

Reference: https://github.com/LeoRover/leo_erc_common/blob/ec055bd2bb6cd69148a617dcf84b890470b27d0c/leo_erc_description/urdf/zed2.xacro

We will use the settings provide by the file `zed_macro.urdf.xacro`.

Gazebo needs the inertial tags for every link. Just as you have <collision> and <visual>, you need to define <inertial>.

Reference: https://answers.gazebosim.org/question/21647

Add the usbutils package to enable the `lsusb` command, use this command to verify the connection with ZED.

Install the necessary ZED dependencies by running the `rosdep` command to get the package lists.

Reference: https://answers.ros.org/question/293850

For convenience, I mount all `/dev` into the container.

Migrate the settings to ROS2, ensuring the topic name aligns with the ZED SDK.
Keep in mind that the gazebo plugin only publishes essential data; other data, such as "Gray Image," will need to be published by a separate node (which hasn't been implemented yet).

Reference: https://github.com/ros-simulation/gazebo_ros_pkgs/wiki

Implement the `sim_mode` flag to seamlessly toggle between simulation and real modes.
(Use Gazebo for simulation.)

Command:
- Launch ZED node only
    - ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i sim_mode:=true
- Launch ZED node with RVIZ
    - ros2 launch zed_display_rviz2 display_zed_cam.launch.py camera_model:=zed2i sim_mode:=true

Considering the information displayed during ZED launch, where the ZED SDK captures frames in 1280x720 and publishes them in 640x360, it would be advisable to configure the Gazebo plugin to publish frames in the same resolution, i.e., 640x360.

Copy the values from the default configuration file of the ZED SDK for accurate adjustment.

File path: /usr/local/zed/settings
Reference: https://support.stereolabs.com/hc/en-us/articles/360007497173-What-is-the-calibration-file

Due to the variance in the base image for Isaac Sim compared to the original one, I've crafted a new Dockerfile to generate the image for Isaac Sim.

Reference: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/4c908bd8e6b83e1cdeb32a79bddcefeadc45b9ff/README.md#usage

To utilize ros2_bridge, install ROS core locally.
Note that we are not employing the official ROS base image, it's necessary to install tzdata as a dependency.

Reference:
- https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html
- https://www.stereolabs.com/docs/isaac-sim/ros2_integration

As the ZED plugin relies on dynamic libraries supplied by the ZED SDK, installing the ZED SDK is essential. However, there's no need to worry about the CUDA version, as we won't be running the SDK within the Isaac Sim container.

Reference:
- https://github.com/stereolabs/zed-ros2-wrapper/blob/282f879ba05cbbc845e519683a11033c1c2eb6f0/docker/Dockerfile.u22-cu117-humble-devel
- https://www.stereolabs.com/docs/isaac-sim/ros2_integration

As we're utilizing the user `ubuntu`, there are several files and folders that require attention regarding permissions and ownership.

I attempted to change the ownership within the `/isaac-sim` folder, but the process consistently terminates when executing the commands. I'm uncertain about the reason, so I'll address each case I encounter and post the issue for further investigation.

Error message:
```
[Error] [carb.scripting-python.plugin] PermissionError: [Errno 13] Permission denied: '/isaac-sim/kit/exts/omni.gpu_foundation/cache/nv_shadercache'
At:
  /isaac-sim/kit/python/lib/python3.10/os.py(230): makedirs
  /isaac-sim/kit/exts/omni.gpu_foundation/omni/gpu_foundation_factory/impl/foundation_extension.py(91): setup_shadercache_locations
  /isaac-sim/kit/exts/omni.gpu_foundation/omni/gpu_foundation_factory/impl/foundation_extension.py(142): on_startup
  /isaac-sim/kit/kernel/py/omni/ext/_impl/_internal.py(164): _startup_ext
  /isaac-sim/kit/kernel/py/carb/profiler/__init__.py(85): wrapper
  /isaac-sim/kit/kernel/py/omni/ext/_impl/_internal.py(224): startup
  /isaac-sim/kit/kernel/py/omni/ext/_impl/_internal.py(328): startup_extension
  PythonExtension.cpp::startup()(2): <module>
[Error] [omni.ext.plugin] [ext: omni.gpu_foundation-0.0.0] Failed to startup python extension.
```

Branch: main
Reference: https://github.com/stereolabs/zed-isaac-sim/tree/2f7d40fee7a825065ab765e3fb90fa7fe1e22bf4

Considering that the folders mounted by Docker are owned by the root, it's necessary to change the ownership to enable reading and writing data inside them.

Error message:
```
[Error] [carb.events.python] PermissionError: [Errno 13] Permission denied: '/isaac-sim/exts/omni.isaac.synthetic_recorder/data/last_config.json'
```

This example is extracted from the ZED tutorial. Refer to the documentation for more comprehensive details.

Reference: https://www.stereolabs.com/docs/isaac-sim/ros2_integration

… for clarity.

Utilize the `sim_platform` flag to specify the simulation platform. It defaults to Isaac Sim.