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tylerjwMarqRazzsea-bassknorth55
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Prepare for World MoveIt Day 2023 - Port Isaac Sim tutorial to main (#688)
Co-authored-by: Marq Rasmussen <[email protected]> Co-authored-by: Sebastian Castro <[email protected]> Co-authored-by: Shingo Kitagawa <[email protected]>
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‎.dockerignore‎

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_scripts/
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_static/
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_templates/
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.docker/
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__pycache__
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**/.git
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**/.github
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**/_scripts
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**/_static
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**/_templates
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**/build
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**/.vscode
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**/.docker
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*.md
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*.rst

‎CMakeLists.txt‎

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# add_subdirectory(doc/examples/tests)
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# add_subdirectory(doc/examples/trajopt_planner)
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# add_subdirectory(doc/examples/visualizing_collisions)
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add_subdirectory(doc/examples/jupyter_notebook_prototyping)
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add_subdirectory(doc/examples/motion_planning_api)
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add_subdirectory(doc/examples/motion_planning_pipeline)
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add_subdirectory(doc/examples/motion_planning_python_api)
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add_subdirectory(doc/examples/move_group_interface)
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add_subdirectory(doc/examples/moveit_cpp)
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add_subdirectory(doc/examples/planning_scene_ros_api)
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add_subdirectory(doc/examples/planning_scene)
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add_subdirectory(doc/examples/planning_scene_ros_api)
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add_subdirectory(doc/examples/realtime_servo)
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add_subdirectory(doc/examples/robot_model_and_robot_state)
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add_subdirectory(doc/how_to_guides/isaac_panda)
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add_subdirectory(doc/how_to_guides/kinematics_cost_function)
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add_subdirectory(doc/how_to_guides/parallel_planning)
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add_subdirectory(doc/how_to_guides/persistent_scenes_and_states)

‎doc/how_to_guides/how_to_guides.rst‎

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how_to_generate_api_doxygen_locally
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how_to_setup_docker_containers_in_ubuntu
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how_to_write_doxygen
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isaac_panda/isaac_panda_tutorial

‎doc/how_to_guides/isaac_panda/.docker/Dockerfile‎

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FROM osrf/ros:humble-desktop-jammy
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SHELL ["/bin/bash", "-c", "-o", "pipefail"]
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RUN echo "deb [trusted=yes] https://raw.githubusercontent.com/moveit/moveit2_packages/jammy-humble/ ./" \
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| sudo tee /etc/apt/sources.list.d/moveit_moveit2_packages.list
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RUN echo "yaml https://raw.githubusercontent.com/moveit/moveit2_packages/jammy-humble/local.yaml humble" \
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| sudo tee /etc/ros/rosdep/sources.list.d/1-moveit_moveit2_packages.list
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# Bring the container up to date to get the latest ROS2 humble sync on 01/27/23
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# hadolint ignore=DL3008, DL3013
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RUN apt-get update && apt-get upgrade -y && rosdep update
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# Install packages required to run the demo
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RUN apt-get install -y --no-install-recommends \
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ros-humble-moveit \
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ros-humble-moveit-resources
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# Create Colcon workspace and clone the needed source code to run the demo
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RUN mkdir -p /root/isaac_moveit_tutorial_ws/src
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WORKDIR /root/isaac_moveit_tutorial_ws/src
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RUN git clone https://github.com/PickNikRobotics/topic_based_ros2_control.git
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COPY ./ moveit2_tutorials
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WORKDIR /root/isaac_moveit_tutorial_ws
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# hadolint ignore=SC1091
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RUN source /opt/ros/humble/setup.bash \
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&& apt-get update -y \
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&& rosdep install --from-paths src --ignore-src --rosdistro "$ROS_DISTRO" -y \
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&& rm -rf /var/lib/apt/lists/*
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# Use Fast DDS as middleware and load the required config for NVIDIA Isaac Sim.
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ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp
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RUN mkdir -p /opt/.ros
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COPY ./doc/how_to_guides/isaac_panda/.docker/fastdds.xml /opt/.ros/fastdds.xml
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ENV FASTRTPS_DEFAULT_PROFILES_FILE=/opt/.ros/fastdds.xml
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# Build the Colcon workspace for the user
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RUN source /opt/ros/humble/setup.bash && colcon build
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# Set up the entrypoint for both container start and interactive terminals.
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COPY ./doc/how_to_guides/isaac_panda/.docker/ros_entrypoint.sh /opt/.ros/
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RUN echo "source /opt/.ros/ros_entrypoint.sh" >> ~/.bashrc
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ENTRYPOINT [ "/opt/.ros/ros_entrypoint.sh" ]

‎doc/how_to_guides/isaac_panda/.docker/fastdds.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<!--
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Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved.
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NVIDIA CORPORATION and its licensors retain all intellectual property
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and proprietary rights in and to this software, related documentation
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and any modifications thereto. Any use, reproduction, disclosure or
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distribution of this software and related documentation without an express
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license agreement from NVIDIA CORPORATION is strictly prohibited.
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-->
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<license>NVIDIA Isaac ROS Software License</license>
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<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" >
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<transport_descriptors>
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<transport_descriptor>
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<transport_id>UdpTransport</transport_id>
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<type>UDPv4</type>
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</transport_descriptor>
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</transport_descriptors>
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<participant profile_name="udp_transport_profile" is_default_profile="true">
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<rtps>
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<userTransports>
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<transport_id>UdpTransport</transport_id>
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</userTransports>
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<useBuiltinTransports>false</useBuiltinTransports>
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</rtps>
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</participant>
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</profiles>

‎doc/how_to_guides/isaac_panda/.docker/ros_entrypoint.sh‎

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#!/bin/bash
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# Source ROS 2 Humble
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source /opt/ros/humble/setup.bash
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echo "Sourced ROS 2 Humble"
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# Source the base workspace, if built
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if [ -f /root/isaac_moveit_tutorial_ws/install/setup.bash ]
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then
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source /root/isaac_moveit_tutorial_ws/install/setup.bash
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echo "Sourced isaac_moveit_tutorial workspace"
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else
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echo "Please build the isaac_moveit_tutorial workspace with:"
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echo "colcon build"
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fi
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# Execute the command passed into this entrypoint
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exec "$@"

‎doc/how_to_guides/isaac_panda/CMakeLists.txt‎

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install(DIRECTORY launch
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DESTINATION share/${PROJECT_NAME}
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)
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install(DIRECTORY config
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DESTINATION share/${PROJECT_NAME}
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)

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