ROS moveit VS IsaaC for Manipulation

Omniverse Isaac Sim
1

Folks at GTC session said that if a manufacturer supplied URDF for robotic arm manipulator, it can be incorporated into Sim.

I am trying to understand if it can be incorporated in a way that movement of the robotic arm can be planned and executed from under IsaaC ?

As for today ROS Moveit+Gazebo to some extent seem to support arm planning. However urdf files tend to lack closed loop support.

Is it likely that IsaaC for Manipulation will plan, execute hardware arm movement both in simulation and in hardware?

2

I have to agree here, I am trying to understand the purpose of Isaac when ROS + Gazebo + Moveit seem to solve some basic kinematic issues. I am looking for Isaac to provide transfer learning capabilities for MY ROBOT and not a generic one. As it stands I am wrestling with ROS bridges for 80% of my functionality and Isaac for very little. It would help if the Webinar used as a tutorial was comprehensive with a definitive roadmap so developers can make a choice to use ROS or Isaac.

3 
    FROM nvcr.io/nvidia/l4t-base:r32.4.2
    RUN apt-get update -y
    RUN apt install -y wget curl git
    RUN /bin/bash  -c 'echo "deb http://packages.ros.org/ros/ubuntu bionic main" > /etc/apt/sources.list.d/ros-latest.list'
    RUN  apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
    RUN apt-get update -y
    RUN rm -r /var/lib/apt/lists/*
    RUN apt update -y
    ENV TZ America/Los_Angeles
    RUN DEBIAN_FRONTEND="noninteractive" apt-get install -y tzdata git curl cmake wget mc mlocate 
    RUN DEBIAN_FRONTEND="noninteractive" apt install -y ros-melodic-desktop clang-format ros-melodic-dynamixel-sdk python-pip python3-pip  python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential 
    RUN apt update -y
    RUN apt install -y ros-melodic-desktop ros-melodic-ros-controllers ros-melodic-moveit* ros-melodic-gazebo-plugins 
    RUN rm -rf /var/lib/apt/lists
    RUN dpkg-reconfigure --frontend noninteractive tzdata
    WORKDIR /home/nvidia/ws

    RUN rosdep init
    RUN rosdep update
    RUN mkdir /home/nvidia/ws/src
 COPY ./workspace /home/nvidia/ws/src/
RUN /bin/bash -c '. /opt/ros/melodic/setup.bash;  cd /home/nvidia/ws; rosdep install --from-paths src --ignore-src; catkin_make'
RUN cd /home/nvidia/ws && rm -rf devel build
RUN /bin/bash -c '. /opt/ros/melodic/setup.bash;  cd /home/nvidia/ws; catkin_make'

Dockerfile
works
draft