isaac tutorial rebase

CMakeLists.txt

@@ -81,6 +81,7 @@ add_subdirectory(doc/examples/moveit_cpp)
 # add_subdirectory(doc/examples/visualizing_collisions)
 # add_subdirectory(doc/examples/bullet_collision_checker)
 add_subdirectory(doc/examples/realtime_servo)
+add_subdirectory(doc/how_to_guides/isaac_panda)
 
 ament_export_dependencies(
   ${THIS_PACKAGE_INCLUDE_DEPENDS}

doc/how_to_guides/how_to_guides.rst

@@ -10,3 +10,4 @@ These how-to guides will help you quickly solve specific problems using MoveIt.
    how_to_generate_api_doxygen_locally
    how_to_setup_docker_containers_in_ubuntu
    how_to_write_doxygen
+   isaac_panda/isaac_panda_tutorial

doc/how_to_guides/isaac_panda/.docker/Dockerfile

@@ -0,0 +1,44 @@
+FROM osrf/ros:humble-desktop-jammy
+
+SHELL ["/bin/bash", "-c", "-o", "pipefail"]
+
+RUN echo "deb [trusted=yes] https://raw.githubusercontent.com/moveit/moveit2_packages/jammy-humble/ ./" \
+    | sudo tee /etc/apt/sources.list.d/moveit_moveit2_packages.list
+RUN echo "yaml https://raw.githubusercontent.com/moveit/moveit2_packages/jammy-humble/local.yaml humble" \
+    | sudo tee /etc/ros/rosdep/sources.list.d/1-moveit_moveit2_packages.list
+
+# Bring the container up to date to get the latest ROS2 humble sync on 01/27/23
+# hadolint ignore=DL3008, DL3013
+RUN apt-get update && apt-get upgrade -y && rosdep update
+
+# Install packages required to run the demo
+RUN apt-get install -y --no-install-recommends \
+    ros-humble-moveit \
+    ros-humble-moveit-resources
+
+# Create Colcon workspace and clone the needed source code to run the demo
+RUN mkdir -p /root/isaac_moveit_tutorial_ws/src
+WORKDIR /root/isaac_moveit_tutorial_ws/src
+RUN git clone https://github.com/PickNikRobotics/isaac_ros2_control.git
+# Docker does not allow copying in parent directories from the host so grab another copy of the tutorials
+RUN git clone https://github.com/MarqRazz/moveit2_tutorials.git -b pr-isaac_tutorial --depth 1
+WORKDIR /root/isaac_moveit_tutorial_ws
+# hadolint ignore=SC1091
+RUN source /opt/ros/humble/setup.bash \
+    && apt-get update -y \
+    && rosdep install --from-paths src --ignore-src --rosdistro "$ROS_DISTRO" -y \
+    && rm -rf /var/lib/apt/lists/*
+
+# Use Fast DDS as middleware and load the required config for NVIDIA Isaac Sim.
+ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+RUN mkdir -p /opt/.ros
+COPY ./.docker/fastdds.xml /opt/.ros/fastdds.xml
+ENV FASTRTPS_DEFAULT_PROFILES_FILE=/opt/.ros/fastdds.xml
+
+# Build the Colcon workspace for the user
+RUN source /opt/ros/humble/setup.bash && colcon build
+
+# Set up the entrypoint for both container start and interactive terminals.
+COPY .docker/ros_entrypoint.sh /opt/.ros/
+RUN echo "source /opt/.ros/ros_entrypoint.sh" >> ~/.bashrc
+ENTRYPOINT [ "/opt/.ros/ros_entrypoint.sh" ]

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

@@ -0,0 +1,28 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!--
+Copyright (c) 2022, NVIDIA CORPORATION.  All rights reserved.
+
+NVIDIA CORPORATION and its licensors retain all intellectual property
+and proprietary rights in and to this software, related documentation
+and any modifications thereto.  Any use, reproduction, disclosure or
+distribution of this software and related documentation without an express
+license agreement from NVIDIA CORPORATION is strictly prohibited.
+-->
+<license>NVIDIA Isaac ROS Software License</license>
+<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" >
+    <transport_descriptors>
+        <transport_descriptor>
+            <transport_id>UdpTransport</transport_id>
+            <type>UDPv4</type>
+        </transport_descriptor>
+    </transport_descriptors>
+
+    <participant profile_name="udp_transport_profile" is_default_profile="true">
+        <rtps>
+            <userTransports>
+                <transport_id>UdpTransport</transport_id>
+            </userTransports>
+            <useBuiltinTransports>false</useBuiltinTransports>
+        </rtps>
+    </participant>
+</profiles>

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

@@ -0,0 +1,18 @@
+#!/bin/bash
+
+# Source ROS 2 Humble
+source /opt/ros/humble/setup.bash
+echo "Sourced ROS 2 Humble"
+
+# Source the base workspace, if built
+if [ -f /root/isaac_moveit_tutorial_ws/install/setup.bash ]
+then
+  source /root/isaac_moveit_tutorial_ws/install/setup.bash
+  echo "Sourced isaac_moveit_tutorial workspace"
+else
+  echo "Please build the isaac_moveit_tutorial workspace with:"
+  echo "colcon build"
+fi
+
+# Execute the command passed into this entrypoint
+exec "$@"

doc/how_to_guides/isaac_panda/CMakeLists.txt

@@ -0,0 +1,6 @@
+install(DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}
+)
+install(DIRECTORY config
+  DESTINATION share/${PROJECT_NAME}
+)