Manipulation control using ROS Moveit package

Omniverse Isaac Sim
1

Hi.

I want to control my robot(Indyrp2) using ROS moveit package, and I need someone’s insight.

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I am trying this scenario by referencing “~/ov/pkg/isaac_sim-2021.2.1/extension_examples/ros_moveit_sample.py”.

Is there any way to transfer the target position to ROS moveit nodes using isaacSim python code ?

Thank you.

2

You can use a ROS Pose Tree publisher component to publish the pose of the prim being used as a target