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NASA Challenge_[franklinselva]_[IsaacSim Integration for Canadarm2 demo] #32

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@franklinselva franklinselva commented Aug 23, 2024

The purpose of this PR is to provide IsaacSim Integration with the demos repository.

Depends on #31
Blocked by space-ros/simulation#21

Merge queue 2

The main changes in this PR include,

  • The demo repository of canadarm2 is restructured to the diagram represented below
  • Both the simulation interfaces are supported (gazebosim and isaacsim). This allows the demos to be reproducible in both the interfaces
  • The use of Makefile is simpler for spinning off the demos in both the simulations.
  • The documentation to run demos in both the environments has been updated
graph LR
    A[GazeboSim] <--> B[Ignition ROS2]
    B <--ROS2 control--> C[Common Package]
    C <--> D[Demo Packages]
    D <--> E[Space ROS2]

    C <--Isaac ROS2 Bridge--> F[Isaac Sim ROS2 Extension]
    F <--> G[Isaac Sim]


    subgraph Host Machine - GazeboSim
        A
        B
    end

    subgraph Host Machine - Isaac Sim
        F
        G
    end

    subgraph Space ROS Container
        C
        D
        E
    end
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Note for reviewers: This PR is not meant to be large and the blocker item needs to be merged first to tackle the problem.

@franklinselva franklinselva changed the title Nasa Challenge_[frankliselva]_[IsaacSim Integration for Canadarm2 demo] NASA Challenge_[franklinselva]_[IsaacSim Integration for Canadarm2 demo] Aug 26, 2024
@franklinselva franklinselva force-pushed the canadarm2-isaacsim branch 2 times, most recently from ed85da9 to 2eee0e7 Compare September 9, 2024 10:00
resolves #178

- Group demos to its robot content
resolves space-ros/space-ros#178

 - Add canadarm_description
 - Fix model asset paths
 - Reverse control configuration for canadarm model
resolves space-ros/space-ros#178
 - Add curiosity_description
 - Strip third party dependencies of mars_rover
resolves space-ros/space-ros#178

 - Fix control parameters for curiosity_description
 - Move curiosity_path world to curiosity_gazebo
 - Add launch file for spinning of gazebo world
related to space-ros/space-ros#178
 - Cleaned up rover launch file for the demo
 - Updated comments for demo node
related to space-ros/space-ros#178

 - Add dockerfile for demo
 - Add makefile for build, run and clean automation
related to space-ros/space-ros#178

 - Add README.md for Curiosity Rover demo
 - Update Main README.md of the demos repository
resolves space-ros/space-ros#178

 - Add canadarm_description package
 - Move earth and iss  world models to canadarm_gazebo
related to space-ros/space-ros#178
 - Cleaned up canadarm launch file for the demo
 - Updated comments for demo node
 - Strip Moveit Redundant Node
 - Cleanup packages.xml
 - Remove ros control parameters for gazebo
related to space-ros/space-ros#178

 - Add README.md for Canadarm2 demo
 - Update Main README.md of the demos repository
Related to space-ros/space-ros#178

 - Update package.xml for canadarm2 packages
 - Update package.xml for curiosity_rover packages
Related to space-ros/space-ros#178

 - Remove makefiles for canadarm2 and curiosity rover demo
 - Add build.sh for building canadarm2 and curiosity rover demo
 - Add run.sh for running the demos
 - Update README.md of demos to the new process
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