Moveit2 first cpp tutorial is not working with Isaac Sim

[robotics-qc]

I am trying to run the cpp tutorial to move a Panda arm from Isaac sim by following the tutorial on MoveIt2 docs.

https://moveit.picknik.ai/main/doc/how_to_guides/isaac_panda/isaac_panda_tutorial.html

The tutorial works perfectly, which means I can control and move the robot through the Rviz visualization tools.

But however, when I follow the tutorial to crerate my first cpp project - hello_moveit package and run the sample demo, I am unable connect to the sim or control the arm.

So what I do is:

1. Run the python script that launches the isaac sim with the robotic arm and the ROS topics
2. Run the docker to launch the demo → which opens RViz and allows me to control the robot

But when I next run moveit cpp example (which works as expected without issac sim and with a normal simulator) it throws this error:

This means it cannot seem to connect to the published topic -

How can I run moveIt cpp such that it moves the robot in in Isaaac sim?

[BuckBabich]

You probably have to update the robot configuration used by the hello_moveit example to use “topic-based ros2_control.”

Please see this section of the tutorial.