From 0b13a81c834781585a1fb161643ae7928f0e0f7e Mon Sep 17 00:00:00 2001 From: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> Date: Sun, 29 Jun 2025 19:20:25 -0400 Subject: [PATCH 1/5] Install TRAC-IK from binaries --- doc/how_to_guides/trac_ik/trac_ik_tutorial.rst | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/doc/how_to_guides/trac_ik/trac_ik_tutorial.rst b/doc/how_to_guides/trac_ik/trac_ik_tutorial.rst index 88d44be37f..5abeb8350e 100644 --- a/doc/how_to_guides/trac_ik/trac_ik_tutorial.rst +++ b/doc/how_to_guides/trac_ik/trac_ik_tutorial.rst @@ -18,11 +18,12 @@ Currently, mimic joints are *not* supported. Install ------- -The ``rolling-devel`` branch of the TRAC-IK repository has the latest ROS 2 implementation. -For now, the repository must be built from source in your ROS 2 workspace, for example ``~/moveit2_ws``. :: +The ``rolling`` branch of the TRAC-IK repository has the latest ROS 2 implementation, but it is also available as binaries. + +If you instead want to build from source, go to your ROS 2 workspace, for example ``~/moveit2_ws``. :: cd ~/moveit2_ws/src - git clone -b rolling-devel https://bitbucket.org/traclabs/trac_ik.git + git clone -b rolling https://bitbucket.org/traclabs/trac_ik.git Usage ----- From 277a2749bdac4b09e27486913a8a286ec8b0c781 Mon Sep 17 00:00:00 2001 From: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> Date: Sun, 29 Jun 2025 19:38:20 -0400 Subject: [PATCH 2/5] These links still are bad, but they may redirect --- doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst b/doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst index 1b0c909cc0..ece7c91121 100644 --- a/doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst +++ b/doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst @@ -57,19 +57,20 @@ updated to load the ``TopicBasedSystem`` plugin when the flag ``ros2_control_har In this tutorial we have included a Python script that loads a Panda robot -and builds an `OmniGraph `_ +and builds an `OmniGraph `_ to publish and subscribe to the ROS topics used to control the robot. The OmniGraph also contains nodes to publish RGB and Depth images from the camera mounted on the hand of the Panda. The RGB image is published to the topic ``/rgb``, the camera info to ``/camera_info``, and the depth image to ``/depth``. The frame ID of the camera frame is ``/sim_camera``. To learn about configuring your Isaac Sim robot to communicate with ROS 2 please see the -`Joint Control tutorial https://docs.isaacsim.omniverse.nvidia.com/latest/ros2_tutorials/tutorial_ros2_manipulation.html>`_ +`Joint Control tutorial `_ on Omniverse. Computer Setup -------------- -1. Install `Isaac Sim `_. +1. Install `Isaac Sim `_. 2. Perform a shallow clone of the MoveIt 2 Tutorials repo. From f190bece068f38a879cc9779f8f338a547d3def1 Mon Sep 17 00:00:00 2001 From: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> Date: Sun, 29 Jun 2025 19:51:03 -0400 Subject: [PATCH 3/5] Missed some. Phones are hard. --- doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst b/doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst index ece7c91121..3f23549b81 100644 --- a/doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst +++ b/doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst @@ -1,9 +1,9 @@ How To Command Simulated Isaac Robot ==================================== -This tutorial requires a machine with ``Isaac Sim 4.5`` (recommended) or higher installed. -For Isaac Sim requirements and installation please see the `Omniverse documentation `_. -To configure Isaac Sim to work with ROS 2 please see `this guide `_. +This tutorial requires a machine with ``Isaac Sim 4.5`` (recommended) or ``Isaac Sim 4.2`` installed. +For Isaac Sim requirements and installation please see the `Omniverse documentation `_. +To configure Isaac Sim to work with ROS 2 please see `this guide `_. This tutorial has the following assumptions on system configuration: From 06772f89402249cc4e95b18ad9adb682bae58216 Mon Sep 17 00:00:00 2001 From: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> Date: Sun, 29 Jun 2025 20:03:26 -0400 Subject: [PATCH 4/5] Why do I do this --- doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst b/doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst index 3f23549b81..bf9ba97997 100644 --- a/doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst +++ b/doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst @@ -57,7 +57,7 @@ updated to load the ``TopicBasedSystem`` plugin when the flag ``ros2_control_har In this tutorial we have included a Python script that loads a Panda robot -and builds an `OmniGraph `_ +and builds an `OmniGraph `_ to publish and subscribe to the ROS topics used to control the robot. The OmniGraph also contains nodes to publish RGB and Depth images from the camera mounted on the hand of the Panda. The RGB image is published to the topic ``/rgb``, the camera info to ``/camera_info``, and the depth image to ``/depth``. From 4edb97c763034404e74b11f878d07fdbb4e8c580 Mon Sep 17 00:00:00 2001 From: Nathan Brooks Date: Sun, 9 Nov 2025 22:17:07 -0700 Subject: [PATCH 5/5] Remove newline --- doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst b/doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst index bf9ba97997..2d7b6152de 100644 --- a/doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst +++ b/doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst @@ -63,8 +63,7 @@ The OmniGraph also contains nodes to publish RGB and Depth images from the camer The RGB image is published to the topic ``/rgb``, the camera info to ``/camera_info``, and the depth image to ``/depth``. The frame ID of the camera frame is ``/sim_camera``. To learn about configuring your Isaac Sim robot to communicate with ROS 2 please see the -`Joint Control tutorial `_ +`Joint Control tutorial `_ on Omniverse. Computer Setup