Abstract
A robot that offloads its control loop to the network carries the receiver with it, so link quality is decided by where it goes. Simulating this requires both a physics engine and a site-specific propagation model at once; to our knowledge no simulator natively unifies both, with existing couplings of the two limited to offline analyses. We demonstrate a real-time co-simulation framework coupling NVIDIA Isaac Sim and NVIDIA Sionna over ROS 2 that closes the perception-action-communication (PAC) loop between them. Sionna ray-traces the base-station-to-robot channel over the exact geometry Isaac Sim simulates on, rather than modeling it stochastically, and feeds channel states back into the control loop in real time. Ray-traced on GPU, the coverage map is refreshed in ~16ms (~60 Hz), fast enough for real-time control. To showcase the framework's utility, we implement a wireless-aware navigation application in an OpenStreetMap(OSM)-derived SUTD campus twin with two Nova Carter robots: the closed-loop planner eliminates communication outage at only +7.4% traversal time over the shortest-path baseline (which spends 7.9 s of its 81.2 s run disconnected).
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Cite this article
APA 7
Lim, Y., Oh, S., & Park, J. (2026). Demo: Closed-Loop Sionna-Isaac Sim Co-Simulation Framework for Wireless-Aware Robot Navigation over ROS 2. https://omanscience.com/en/articles/demo-closed-loop-sionna-isaac-sim-co-simulation-framework-for-wireless-aware-robot-navigation-over-ros-2
MLA 9
Lim, Yishen, et al. "Demo: Closed-Loop Sionna-Isaac Sim Co-Simulation Framework for Wireless-Aware Robot Navigation over ROS 2." https://omanscience.com/en/articles/demo-closed-loop-sionna-isaac-sim-co-simulation-framework-for-wireless-aware-robot-navigation-over-ros-2.
Chicago (author–date)
Lim, Yishen, Seungeun Oh, and Jihong Park. 2026. "Demo: Closed-Loop Sionna-Isaac Sim Co-Simulation Framework for Wireless-Aware Robot Navigation over ROS 2." https://omanscience.com/en/articles/demo-closed-loop-sionna-isaac-sim-co-simulation-framework-for-wireless-aware-robot-navigation-over-ros-2.
Harvard
Lim, Y., Oh, S. and Park, J. (2026) 'Demo: Closed-Loop Sionna-Isaac Sim Co-Simulation Framework for Wireless-Aware Robot Navigation over ROS 2', Available at: https://omanscience.com/en/articles/demo-closed-loop-sionna-isaac-sim-co-simulation-framework-for-wireless-aware-robot-navigation-over-ros-2.
Vancouver
Lim Y, Oh S, Park J. Demo: Closed-Loop Sionna-Isaac Sim Co-Simulation Framework for Wireless-Aware Robot Navigation over ROS 2. https://omanscience.com/en/articles/demo-closed-loop-sionna-isaac-sim-co-simulation-framework-for-wireless-aware-robot-navigation-over-ros-2
IEEE
Y. Lim, S. Oh, and J. Park, "Demo: Closed-Loop Sionna-Isaac Sim Co-Simulation Framework for Wireless-Aware Robot Navigation over ROS 2," https://omanscience.com/en/articles/demo-closed-loop-sionna-isaac-sim-co-simulation-framework-for-wireless-aware-robot-navigation-over-ros-2.