Isaac Sim, Moveit

Omniverse Isaac Sim
2

Hi @abderrahmen.melliti

The omni.add_on.ros_control_bridge user extension configures Isaac Sim to use the ROS FollowJointTrajectory and GripperCommand actions.

There are a few steps to configure and use such an extension

  1. Include dependencies (omni.usd.schema.add_on and omni.add_on.ros_bridge_ui)

  2. Publish the joint states of the robot using a RosJointState prim

  3. Configure the RosControlFollowJointTrajectory and/or RosControlGripperCommand prims according to the configuration of the ROS controllers made with MoveIt Setup Assistant (ros_controllers.yaml file)

Can you see (rostopic list) the following (or similar) topics only playing the simulator, without launching MoveIt?

/arm_controller/follow_joint_trajectory/cancel
/arm_controller/follow_joint_trajectory/feedback
/arm_controller/follow_joint_trajectory/goal
/arm_controller/follow_joint_trajectory/result
/arm_controller/follow_joint_trajectory/status

Could you please indicate which step is giving you problems or indicate more details about the steps followed (even if not indicated)?

In any case, I added an example (an stage (.usd) and a catkin workspace with the MoveIt configuration) to the repository: Releases · Toni-SM/omni.add_on.ros_control_bridge · GitHub