Running demos documentation for source build

[ana-GT]

Hi ISAAC team,

Thank you very much for releasing this project as Open Source! I just installed it in my Ubuntu 20.04 machine and installation went smoothly (only extra thing was to install Torch for img_analysis, as the readme in the package mentions). I am having a bit of trouble running the demos. I checked the documentation page but it refers to docker users (I tinkered a little bit trying to run isaac_astrobee.launch but got a bunch of I2C-related errors - running good ol' sim.launch at least start things fine). Any pointer would be appreciated, thanks!

[marinagmoreira]

Thank you for opening our first issue, we'll make sure to update the demos, haven't used then in a bit.
The isaac_astrobee.launch is used for the actual robot (analog to the astrobee.launch in the astrobee repo), for the simulation we do sim.launch.

For starting the fsw:
roslaunch isaac sim.launch dds:=false robot:=sim_pub rviz:=true

For inspection:
rosrun inspection inspection_tool -anomaly
rosrun inspection inspection_tool -geometry
rosrun inspection inspection_tool -volumetric

For cargo transport:
spawn cargo:
roslaunch isaac_gazebo spawn_object.launch spawn:=cargo pose:="11.3 -5.6 5.7 -0.707 0 0 0.707" name:=CTB_05_1070
pick up cargo (make sure it's undocked) - the pose is the cargo pose:
rosrun cargo cargo_tool -id CTB_05_1070 -pick -pose "11.3 -5.6 5.7 -0.707 0 0 0.707"
drop cargo - the pose is the dock pose:
rosrun cargo cargo_tool -drop -pose "11.3 -5.6 5.955 -0.707 0 0 0.707"