Hello,
My feedback is that it would be nice to improve ROS2 support:
- support the Jazzy distro (as previously mentioned) and thus Ubuntu 24.04
- have an URDF importer that correctly imports the robot structure while preserving the collision geometry (see issue example). I personally experienced this issue as well and had to rebuilt the robot by hand using the robot assembler… which is not always stable.
- make sure Isaac Sim can be correctly interfaced with MoveIt as suggested in the tutorial. Although this tutorial has not been updated for Isaac Sim 4.5, I managed to connect Isaac Sim with MoveIt2 but weird trajectory bugs occur (see Difference between path planned in MoveIt and executed in Isaac Sim, Arm freezes while executing motion plan generated via moveit, Inconsistent Trajectory Following in Isaac Sim with MoveIt Using topic_based_ros2_control - #7 by radhen.17)
Regarding manipulator motion, MoveIt2 is widely used by labs/companies. Having a proper integration would definitely be a nice feature (allowing a single planning pipeline for both the simulator and the real world).
Thank you for the great work and have a nice day!