Configuring MoveIt to work with Nvidia Isaac (from scratch, not running the demo)

Robotics & Edge Computing Robotics - Isaac Isaac ROS
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Hello all,

I am attempting to go through a bit more of a manual process to get the MoveIt example environment in Isaac to work with MoveIt. To do so, I’m doing the following:

  1. Using the MoveIt Environment from Isaac Examples > ROS > MoveIt
  2. I did update the publisher and subscriber graph configuration to exclude the isaac_ prefix. I can confirm that I see those topics, and in fact, confirmed I can use a ROS2 Publisher to publish to those topics and jog the robot arm.
  3. I’m using the existing MoveIt Config Package from here: GitHub - moveit/moveit_resources at humble using the humble branch.
  4. I’ve then gone through and confirmed that In Rviz, when launched I can load the MotionPlanning Plugin, and see a successful plan found, with the RViz model showing the current robot’s state properly.
  5. It fails during execution due: Action client not connected to action server: panda_arm_controller/follow_joint_trajectory.

When I try to debug and test, I see that the controller doesn’t launch properly, and it’s just hanging to connect, but I can confirm my controller_manager is working. Am I missing something? I realize this seems more on the ROS2 side, but since I’m used to using gazebo to launch the controllers (or a hardware interface for a robot such as a UR), this is somewhat new territory to me.

Thanks!

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I was able solve this issue by realizing I was missing some dependency for a the topic based ROS2 control:

Install this package: https://github.com/PickNikRobotics/topic_based_ros2_control via:

sudo apt install ros-humble-topic-based-ros2-control

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Hi @astral_rogue

Welcome to the Isaac ROS forum and thank you for your message and also your solution.

To better understand, Which Isaac ROS demo are you following?

Best,
Raffaello

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Hey @Raffaello ,

I was trying to use the panda descriptions/moveit configs as detailed in this repo: moveit_resources/panda_moveit_config at humble · moveit/moveit_resources · GitHub. I’m on ROS2 Humble, so I used that branch.

I then wrote my own custom launch file (based heavily on this file: moveit2_tutorials/doc/how_to_guides/isaac_panda/launch/isaac_demo.launch.py at main · moveit/moveit2_tutorials · GitHub) to get it running.

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