Updates for Isaac Sim 5.1.0 release

ayushgnv · ayushgnv · commit 50de00358f22 · 2025-10-21T16:20:55.000-07:00
diff --git a/.gitmodules b/.gitmodules
@@ -2,8 +2,7 @@
 	path = humble_ws/src/moveit/moveit_resources
 	url = https://github.com/ayushgnv/moveit_resources.git
 	branch = isaacsim_moveit_tutorial
-
 [submodule "jazzy_ws/src/moveit/moveit_resources"]
 	path = jazzy_ws/src/moveit/moveit_resources
 	url = https://github.com/ayushgnv/moveit_resources.git
-	branch = isaacsim_moveit_tutorial
+	branch = isaac_moveit_tutorial_jazzy
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,5 +1,9 @@
 # Changelog
 
+## [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]
diff --git a/humble_ws/src/navigation/carter_navigation/params/carter_navigation_params.yaml b/humble_ws/src/navigation/carter_navigation/params/carter_navigation_params.yaml
@@ -121,8 +121,8 @@ velocity_smoother:
     smoothing_frequency: 20.0 
     scale_velocities: false 
     feedback: "OPEN_LOOP" 
-    max_velocity: [1.8, 0.0, 1.2] 
-    min_velocity: [-1.8, 0.0, -1.2] 
+    max_velocity: [0.8, 0.0, 0.7] 
+    min_velocity: [-0.8, 0.0, -0.7] 
     # deadband_velocity: [0.0, 0.0, 0.0] 
     velocity_timeout: 1.0 
     # max_accel: [1.0, 0.0, 1.25] 
@@ -159,9 +159,9 @@ controller_server:
       debug_trajectory_details: True
       min_vel_x: 0.0
       min_vel_y: 0.0
-      max_vel_x: 1.8
+      max_vel_x: 0.8
       max_vel_y: 0.0
-      max_vel_theta: 1.2
+      max_vel_theta: 0.7
       min_speed_xy: 0.0
       max_speed_xy: 1.0
       min_speed_theta: 0.0
diff --git a/humble_ws/src/navigation/carter_navigation/params/hospital/multi_robot_carter_navigation_params_1.yaml b/humble_ws/src/navigation/carter_navigation/params/hospital/multi_robot_carter_navigation_params_1.yaml
@@ -121,8 +121,8 @@ velocity_smoother:
     smoothing_frequency: 20.0 
     scale_velocities: false 
     feedback: "OPEN_LOOP" 
-    max_velocity: [1.8, 0.0, 1.2] 
-    min_velocity: [-1.8, 0.0, -1.2] 
+    max_velocity: [0.8, 0.0, 0.7] 
+    min_velocity: [-0.8, 0.0, -0.7] 
     # deadband_velocity: [0.0, 0.0, 0.0] 
     velocity_timeout: 1.0 
     # max_accel: [1.0, 0.0, 1.25] 
diff --git a/humble_ws/src/navigation/carter_navigation/params/hospital/multi_robot_carter_navigation_params_2.yaml b/humble_ws/src/navigation/carter_navigation/params/hospital/multi_robot_carter_navigation_params_2.yaml
@@ -121,8 +121,8 @@ velocity_smoother:
     smoothing_frequency: 20.0 
     scale_velocities: false 
     feedback: "OPEN_LOOP" 
-    max_velocity: [1.8, 0.0, 1.2] 
-    min_velocity: [-1.8, 0.0, -1.2] 
+    max_velocity: [0.8, 0.0, 0.7] 
+    min_velocity: [-0.8, 0.0, -0.7] 
     # deadband_velocity: [0.0, 0.0, 0.0] 
     velocity_timeout: 1.0 
     # max_accel: [1.0, 0.0, 1.25] 
diff --git a/humble_ws/src/navigation/carter_navigation/params/hospital/multi_robot_carter_navigation_params_3.yaml b/humble_ws/src/navigation/carter_navigation/params/hospital/multi_robot_carter_navigation_params_3.yaml
@@ -121,8 +121,8 @@ velocity_smoother:
     smoothing_frequency: 20.0 
     scale_velocities: false 
     feedback: "OPEN_LOOP" 
-    max_velocity: [1.8, 0.0, 1.2] 
-    min_velocity: [-1.8, 0.0, -1.2] 
+    max_velocity: [0.8, 0.0, 0.7] 
+    min_velocity: [-0.8, 0.0, -0.7] 
     # deadband_velocity: [0.0, 0.0, 0.0] 
     velocity_timeout: 1.0 
     # max_accel: [1.0, 0.0, 1.25] 
diff --git a/humble_ws/src/navigation/carter_navigation/params/office/multi_robot_carter_navigation_params_1.yaml b/humble_ws/src/navigation/carter_navigation/params/office/multi_robot_carter_navigation_params_1.yaml
@@ -121,8 +121,8 @@ velocity_smoother:
     smoothing_frequency: 20.0 
     scale_velocities: false 
     feedback: "OPEN_LOOP" 
-    max_velocity: [1.8, 0.0, 1.2] 
-    min_velocity: [-1.8, 0.0, -1.2] 
+    max_velocity: [0.8, 0.0, 0.7] 
+    min_velocity: [-0.8, 0.0, -0.7] 
     # deadband_velocity: [0.0, 0.0, 0.0] 
     velocity_timeout: 1.0 
     # max_accel: [1.0, 0.0, 1.25] 
diff --git a/humble_ws/src/navigation/carter_navigation/params/office/multi_robot_carter_navigation_params_2.yaml b/humble_ws/src/navigation/carter_navigation/params/office/multi_robot_carter_navigation_params_2.yaml
@@ -121,8 +121,8 @@ velocity_smoother:
     smoothing_frequency: 20.0 
     scale_velocities: false 
     feedback: "OPEN_LOOP" 
-    max_velocity: [1.8, 0.0, 1.2] 
-    min_velocity: [-1.8, 0.0, -1.2] 
+    max_velocity: [0.8, 0.0, 0.7] 
+    min_velocity: [-0.8, 0.0, -0.7] 
     # deadband_velocity: [0.0, 0.0, 0.0] 
     velocity_timeout: 1.0 
     # max_accel: [1.0, 0.0, 1.25] 
diff --git a/humble_ws/src/navigation/carter_navigation/params/office/multi_robot_carter_navigation_params_3.yaml b/humble_ws/src/navigation/carter_navigation/params/office/multi_robot_carter_navigation_params_3.yaml
@@ -121,8 +121,8 @@ velocity_smoother:
     smoothing_frequency: 20.0 
     scale_velocities: false 
     feedback: "OPEN_LOOP" 
-    max_velocity: [1.8, 0.0, 1.2] 
-    min_velocity: [-1.8, 0.0, -1.2] 
+    max_velocity: [0.8, 0.0, 0.7] 
+    min_velocity: [-0.8, 0.0, -0.7] 
     # deadband_velocity: [0.0, 0.0, 0.0] 
     velocity_timeout: 1.0 
     # max_accel: [1.0, 0.0, 1.25] 
diff --git a/jazzy_ws/src/moveit/isaac_moveit/CMakeLists.txt b/jazzy_ws/src/moveit/isaac_moveit/CMakeLists.txt
@@ -12,6 +12,7 @@ install(DIRECTORY
 
 # Install Python executables
 install(PROGRAMS
+  scripts/gripper_to_isaac.py
   DESTINATION lib/${PROJECT_NAME}
 )
 ament_package()
diff --git a/jazzy_ws/src/moveit/isaac_moveit/launch/isaac_moveit.launch.py b/jazzy_ws/src/moveit/isaac_moveit/launch/isaac_moveit.launch.py
@@ -171,10 +171,13 @@ def generate_launch_description():
         arguments=["panda_arm_controller", "-c", "/controller_manager"],
     )
 
-    panda_hand_controller_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=["panda_hand_controller", "-c", "/controller_manager"],
+    # Use direct bridge instead of spawning panda_hand_controller
+    gripper_to_isaac_bridge = Node(
+        package="isaac_moveit",
+        executable="gripper_to_isaac.py",
+        name="gripper_to_isaac",
+        output="screen",
+        parameters=[{"use_sim_time": LaunchConfiguration("use_sim_time")}],
     )
 
     return LaunchDescription(
@@ -189,6 +192,6 @@ def generate_launch_description():
             ros2_control_node,
             joint_state_broadcaster_spawner,
             panda_arm_controller_spawner,
-            panda_hand_controller_spawner,
+            gripper_to_isaac_bridge,
         ]
     )
diff --git a/jazzy_ws/src/moveit/isaac_moveit/scripts/gripper_to_isaac.py b/jazzy_ws/src/moveit/isaac_moveit/scripts/gripper_to_isaac.py
@@ -0,0 +1,101 @@
+#!/usr/bin/env python3
+"""
+Direct bridge: Gripper commands -> Isaac Sim joint commands
+"""
+
+import rclpy
+from rclpy.node import Node
+from control_msgs.action import GripperCommand
+from rclpy.action import ActionServer, GoalResponse, CancelResponse
+from rclpy.action.server import ServerGoalHandle
+from sensor_msgs.msg import JointState
+import threading
+
+
+class GripperToIsaac(Node):
+    def __init__(self):
+        super().__init__('gripper_to_isaac')
+        
+        self.get_logger().info('Starting Gripper to Isaac bridge')
+        
+        # Current target position
+        self.target_position = 0.04  # Start open
+        self.position_lock = threading.Lock()
+        
+        # Publisher to Isaac Sim
+        self.isaac_pub = self.create_publisher(
+            JointState,
+            '/isaac_joint_commands',
+            10
+        )
+        
+        # Timer to continuously republish commands to Isaac Sim (20Hz)
+        self.timer = self.create_timer(0.05, self.publish_gripper_command)
+        
+        # Action server to intercept MoveIt's gripper commands
+        self._action_server = ActionServer(
+            self,
+            GripperCommand,
+            '/panda_hand_controller/gripper_cmd',
+            self.execute_callback,
+            goal_callback=self.goal_callback,
+            cancel_callback=self.cancel_callback
+        )
+        
+        self.get_logger().info('Gripper action server ready!')
+    
+    def publish_gripper_command(self):
+        """Continuously publish the current gripper target to Isaac Sim"""
+        with self.position_lock:
+            msg = JointState()
+            msg.header.stamp = self.get_clock().now().to_msg()
+            msg.name = ['panda_finger_joint1', 'panda_finger_joint2']
+            msg.position = [self.target_position, self.target_position]
+            self.isaac_pub.publish(msg)
+    
+    def goal_callback(self, goal_request):
+        self.get_logger().info(f'Received goal: position={goal_request.command.position}')
+        return GoalResponse.ACCEPT
+    
+    def cancel_callback(self, goal_handle):
+        self.get_logger().info('Cancel requested')
+        return CancelResponse.ACCEPT
+    
+    async def execute_callback(self, goal_handle: ServerGoalHandle):
+        self.get_logger().info(f'Executing gripper command: {goal_handle.request.command.position}')
+        
+        # Update target position (timer will continuously publish it)
+        with self.position_lock:
+            self.target_position = goal_handle.request.command.position
+        
+        # Wait for gripper to move (simulate execution time)
+        import time
+        time.sleep(1.0)
+        
+        self.get_logger().info('Gripper command completed!')
+        goal_handle.succeed()
+        
+        result = GripperCommand.Result()
+        result.position = goal_handle.request.command.position
+        result.reached_goal = True
+        result.stalled = False
+        
+        return result
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = GripperToIsaac()
+    
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
+
diff --git a/jazzy_ws/src/navigation/carter_navigation/params/carter_navigation_params.yaml b/jazzy_ws/src/navigation/carter_navigation/params/carter_navigation_params.yaml
@@ -144,8 +144,8 @@ velocity_smoother:
     smoothing_frequency: 20.0 
     scale_velocities: false 
     feedback: "OPEN_LOOP" 
-    max_velocity: [1.8, 0.0, 1.2] 
-    min_velocity: [-1.8, 0.0, -1.2] 
+    max_velocity: [0.8, 0.0, 0.7] 
+    min_velocity: [-0.8, 0.0, -0.7] 
     # deadband_velocity: [0.0, 0.0, 0.0] 
     velocity_timeout: 1.0 
     # max_accel: [1.0, 0.0, 1.25] 
@@ -189,9 +189,9 @@ controller_server:
       debug_trajectory_details: True
       min_vel_x: 0.0
       min_vel_y: 0.0
-      max_vel_x: 1.8
+      max_vel_x: 0.8
       max_vel_y: 0.0
-      max_vel_theta: 1.0
+      max_vel_theta: 0.7
       min_speed_xy: 0.0
       max_speed_xy: 1.0
       min_speed_theta: 0.0
diff --git a/jazzy_ws/src/navigation/carter_navigation/params/hospital/multi_robot_carter_navigation_params_1.yaml b/jazzy_ws/src/navigation/carter_navigation/params/hospital/multi_robot_carter_navigation_params_1.yaml
@@ -144,8 +144,8 @@ velocity_smoother:
     smoothing_frequency: 20.0 
     scale_velocities: false 
     feedback: "OPEN_LOOP" 
-    max_velocity: [1.8, 0.0, 1.2] 
-    min_velocity: [-1.8, 0.0, -1.2] 
+    max_velocity: [0.8, 0.0, 0.7] 
+    min_velocity: [-0.8, 0.0, -0.7] 
     # deadband_velocity: [0.0, 0.0, 0.0] 
     velocity_timeout: 1.0 
     # max_accel: [1.0, 0.0, 1.25] 
diff --git a/jazzy_ws/src/navigation/carter_navigation/params/hospital/multi_robot_carter_navigation_params_2.yaml b/jazzy_ws/src/navigation/carter_navigation/params/hospital/multi_robot_carter_navigation_params_2.yaml
@@ -144,8 +144,8 @@ velocity_smoother:
     smoothing_frequency: 20.0 
     scale_velocities: false 
     feedback: "OPEN_LOOP" 
-    max_velocity: [1.8, 0.0, 1.2] 
-    min_velocity: [-1.8, 0.0, -1.2] 
+    max_velocity: [0.8, 0.0, 0.7] 
+    min_velocity: [-0.8, 0.0, -0.7] 
     # deadband_velocity: [0.0, 0.0, 0.0] 
     velocity_timeout: 1.0 
     # max_accel: [1.0, 0.0, 1.25] 
diff --git a/jazzy_ws/src/navigation/carter_navigation/params/hospital/multi_robot_carter_navigation_params_3.yaml b/jazzy_ws/src/navigation/carter_navigation/params/hospital/multi_robot_carter_navigation_params_3.yaml
@@ -144,8 +144,8 @@ velocity_smoother:
     smoothing_frequency: 20.0 
     scale_velocities: false 
     feedback: "OPEN_LOOP" 
-    max_velocity: [1.8, 0.0, 1.2] 
-    min_velocity: [-1.8, 0.0, -1.2] 
+    max_velocity: [0.8, 0.0, 0.7] 
+    min_velocity: [-0.8, 0.0, -0.7] 
     # deadband_velocity: [0.0, 0.0, 0.0] 
     velocity_timeout: 1.0 
     # max_accel: [1.0, 0.0, 1.25] 
diff --git a/jazzy_ws/src/navigation/carter_navigation/params/office/multi_robot_carter_navigation_params_1.yaml b/jazzy_ws/src/navigation/carter_navigation/params/office/multi_robot_carter_navigation_params_1.yaml
@@ -144,8 +144,8 @@ velocity_smoother:
     smoothing_frequency: 20.0 
     scale_velocities: false 
     feedback: "OPEN_LOOP" 
-    max_velocity: [1.8, 0.0, 1.2] 
-    min_velocity: [-1.8, 0.0, -1.2] 
+    max_velocity: [0.8, 0.0, 0.7] 
+    min_velocity: [-0.8, 0.0, -0.7] 
     # deadband_velocity: [0.0, 0.0, 0.0] 
     velocity_timeout: 1.0 
     # max_accel: [1.0, 0.0, 1.25] 
diff --git a/jazzy_ws/src/navigation/carter_navigation/params/office/multi_robot_carter_navigation_params_2.yaml b/jazzy_ws/src/navigation/carter_navigation/params/office/multi_robot_carter_navigation_params_2.yaml
@@ -144,8 +144,8 @@ velocity_smoother:
     smoothing_frequency: 20.0 
     scale_velocities: false 
     feedback: "OPEN_LOOP" 
-    max_velocity: [1.8, 0.0, 1.2] 
-    min_velocity: [-1.8, 0.0, -1.2] 
+    max_velocity: [0.8, 0.0, 0.7] 
+    min_velocity: [-0.8, 0.0, -0.7] 
     # deadband_velocity: [0.0, 0.0, 0.0] 
     velocity_timeout: 1.0 
     # max_accel: [1.0, 0.0, 1.25] 
diff --git a/jazzy_ws/src/navigation/carter_navigation/params/office/multi_robot_carter_navigation_params_3.yaml b/jazzy_ws/src/navigation/carter_navigation/params/office/multi_robot_carter_navigation_params_3.yaml
@@ -144,8 +144,8 @@ velocity_smoother:
     smoothing_frequency: 20.0 
     scale_velocities: false 
     feedback: "OPEN_LOOP" 
-    max_velocity: [1.8, 0.0, 1.2] 
-    min_velocity: [-1.8, 0.0, -1.2] 
+    max_velocity: [0.8, 0.0, 0.7] 
+    min_velocity: [-0.8, 0.0, -0.7] 
     # deadband_velocity: [0.0, 0.0, 0.0] 
     velocity_timeout: 1.0 
     # max_accel: [1.0, 0.0, 1.25] 

Original file line number	Diff line number	Diff line change
`@@ -12,6 +12,7 @@ install(DIRECTORY`
`12`	`12`
`13`	`13`	`# Install Python executables`
`14`	`14`	`install(PROGRAMS`
	`15`	`+ scripts/gripper_to_isaac.py`
`15`	`16`	`DESTINATION lib/${PROJECT_NAME}`
`16`	`17`	`)`
`17`	`18`	`ament_package()`