Address comments - part 1

Signed-off-by: Steven Desvars <steven.desvars@ekumenlabs.com>

Author: stevendes

ar4_isaac/launch/ar4_in_empty_world.launch.py

@@ -34,25 +34,50 @@
 import os
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import ExecuteProcess
+from launch.actions import DeclareLaunchArgument, ExecuteProcess
+from launch.conditions import IfCondition, UnlessCondition
+from launch.substitutions import LaunchConfiguration
 
 
 def generate_launch_description():
-    pkg_andino_isaac_path = get_package_share_directory('ar4_isaac')
-    run_sim_path = os.path.join(pkg_andino_isaac_path, 'scripts', 'run_sim.py')
+    headless = LaunchConfiguration('headless')  # noqa F841
+    declare_headless = DeclareLaunchArgument(
+        'headless',
+        default_value='false',
+        description='Launch Isaac in headless mode',
+    )
+
+    pkg_ar4_isaac = get_package_share_directory('ar4_isaac')
+    run_sim_path = os.path.join(pkg_ar4_isaac, 'scripts', 'run_sim.py')
 
     isaac_process = ExecuteProcess(
         cmd=[
             '/isaac-sim/python.sh',
             run_sim_path,
             '--robot_model_path',
-            os.path.join(pkg_andino_isaac_path, 'usda', 'ar4.usda'),
+            os.path.join(pkg_ar4_isaac, 'usda', 'ar4.usda'),
+        ],
+        shell=True,
+        output='screen',
+        condition=UnlessCondition(LaunchConfiguration('headless')),
+    )
+
+    isaac_process_headless = ExecuteProcess(
+        cmd=[
+            '/isaac-sim/python.sh',
+            run_sim_path,
+            '--robot_model_path',
+            os.path.join(pkg_ar4_isaac, 'usda', 'ar4.usda'),
+            '--headless',
         ],
         shell=True,
         output='screen',
+        condition=IfCondition(LaunchConfiguration('headless')),
     )
 
     ld = LaunchDescription()
+    ld.add_action(declare_headless)
     ld.add_action(isaac_process)
+    ld.add_action(isaac_process_headless)
 
     return ld

ar4_isaac/launch/moveit.launch.py

@@ -40,11 +40,17 @@
 def generate_launch_description():
     """Launch the AR4 robot in Isaac and MoveIt."""
     use_sim_time = LaunchConfiguration('use_sim_time')
+    headless = LaunchConfiguration('headless')
     declare_use_sim_time_cmd = DeclareLaunchArgument(
         'use_sim_time',
         default_value='true',
         description='Use simulation (Isaac) clock if true',
     )
+    declare_headless = DeclareLaunchArgument(
+        'headless',
+        default_value='false',
+        description='Launch Isaac in headless mode',
+    )
 
     ar4_isaac_pkg = FindPackageShare('ar4_isaac')
     ar4_moveit_config_pkg = FindPackageShare('ar4_moveit_config')
@@ -58,7 +64,10 @@ def generate_launch_description():
                     'ar4_in_empty_world.launch.py',
                 ]
             )
-        )
+        ),
+        launch_arguments={
+            'headless': headless,
+        }.items(),
     )
 
     controllers_launch = IncludeLaunchDescription(
@@ -90,6 +99,7 @@ def generate_launch_description():
 
     ld = LaunchDescription()
     ld.add_action(declare_use_sim_time_cmd)
+    ld.add_action(declare_headless)
     ld.add_action(isaac_launch)
     ld.add_action(controllers_launch)
     ld.add_action(moveit_launch)

ar4_isaac/package.xml

@@ -2,9 +2,7 @@
 <package format="3">
   <name>ar4_isaac</name>
   <version>0.0.1</version>
-  <description>
-    Launch Isaac simulation with Ar4 robot.
-  </description>
+  <description>Launch Isaac simulation with Ar4 robot.</description>
   <author email="santiago.mendez@creativa77.com.ar">Santiago Lopez mendez</author>
   <maintainer email="steven.desvars@creativa77.com.ar">Steven Desvars</maintainer>
   <maintainer email="santiago.mendez@creativa77.com.ar">Santiago Lopez mendez</maintainer>
@@ -14,6 +12,7 @@
 
   <exec_depend>controller_manager</exec_depend>
   <exec_depend>topic_based_ros2_control</exec_depend>
+  <exec_depend>ros2launch</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

docker/Dockerfile.isaac

@@ -3,12 +3,12 @@ FROM nvcr.io/nvidia/isaac-sim:4.2.0
 ENV DEBIAN_FRONTEND=noninteractive
 
 # Add ROS 2 key
-RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
-    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
+    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
 
 # Install base system dependencies and development dependencies
-RUN apt-get update && \
-    apt-get install --no-install-recommends -y \
+RUN apt-get update  \
+    && apt-get install --no-install-recommends -y \
     apt-utils \
     bash-completion \
     build-essential \
@@ -29,6 +29,7 @@ RUN apt-get update && \
     python3-rosdep \
     python3-setuptools \
     python3.10 \
+    screen \
     software-properties-common \
     sudo \
     tmux && \
@@ -58,20 +59,23 @@ RUN pip install --no-cache-dir --extra-index-url https://pypi.nvidia.com \
     nest-asyncio
 
 # Ensure cache folder is created, and symlink it to an easier to mount folder for persistance
-RUN mkdir -p /usr/local/lib/python3.10/dist-packages/omni/cache && \
-    ln -s /usr/local/lib/python3.10/dist-packages/omni/cache /root/.isaac-sim-cache
+RUN mkdir -p /usr/local/lib/python3.10/dist-packages/omni/cache \
+    && ln -s /usr/local/lib/python3.10/dist-packages/omni/cache /root/.isaac-sim-cache
 
 # Install ROS 2
-RUN apt-get update && apt-get install --no-install-recommends -y \
-    ros-humble-desktop
+RUN apt-get update \
+    && apt-get install --no-install-recommends -y \
+        ros-humble-desktop \
+    && rm -rf /var/lib/apt/lists/*
 
 # Install ros dependencies, updating the apt cache is necessary.
 RUN --mount=type=bind,source=.,target=/tmp/ws \
-    rosdep init && \
-    apt-get update && \
-    . /opt/ros/humble/setup.sh && \
-    rosdep update && \
-    rosdep install --from-paths /tmp/ws --ignore-src -r -y
+    rosdep init \
+    && apt-get update \
+    && . /opt/ros/humble/setup.sh \
+    && rosdep update \
+    && rosdep install --from-paths /tmp/ws --ignore-src -r -y \
+    && rm -rf /var/lib/apt/lists/*
 
 WORKDIR /workspace
 

docker/docker-compose.yml

@@ -46,7 +46,6 @@ services:
       PRIVACY_CONSENT: Y
       QT_X11_NO_MITSHM: 1
       RMW_IMPLEMENTATION: rmw_fastrtps_cpp
-      ROS_DISTRO: humble
       XAUTHORITY: /tmp/.docker.xauth
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw