Merge pull request #22 from NVIDIA-ISAAC-ROS/release-3.0

Isaac ROS 3.0.1

public/_sources/concepts/localization/lidar/tutorial_isaac_sim.rst.txt

@@ -30,7 +30,7 @@ Tutorial Walkthrough
         :align: center
         :width: 400px
 
-6.  Select ``/World/Nova_Carter_ROS/ros_lidars/front_2d_lidar_render_product`` in the *Stage* pane and set ``enabled`` to True.
+6.  Select ``/World/Nova_Carter_ROS/ros_lidars/front_2d_lidar_render_product`` in the *Stage* pane and set ``enabled`` to True (checked).
 
 7.  Press **Play** to start publishing data from the Isaac Sim.
 

public/_sources/concepts/manipulation/cumotion_moveit/tutorial_isaac_sim.rst.txt

@@ -16,53 +16,78 @@ in Isaac Sim leveraging the cuMotion plugin for MoveIt 2 provided by
 developed by PickNik Robotics, which in turn was based on a less featureful MoveIt example provided
 with Isaac Sim.
 
-This tutorial has been tested with Isaac Sim 2023.1.1.
+This tutorial has been tested with Isaac Sim 4.0 and Isaac Sim 2023.1.1.
 
 Tutorial Walkthrough
 --------------------
 
-1. Complete the "Basic Setup" section of the ``isaac_ros_cumotion_moveit`` :ref:`quickstart <repositories_and_packages/isaac_ros_cumotion/isaac_ros_cumotion_moveit/index:Quickstart>`.
-2. Build the ``isaac_ros_cumotion_examples`` package and its dependencies (including ``isaac_ros_cumotion`` and ``isaac_ros_cumotion_moveit``):
+1. Set up your development environment by following the instructions in :doc:`Getting Started </getting_started/dev_env_setup>`.
 
-   .. code:: bash
-
-      cd ${ISAAC_ROS_WS} && \
-        colcon build --packages-up-to isaac_ros_cumotion_examples
-
-3. Launch MoveIt (including RViz) using the provided launch file:
+2. Clone ``isaac_ros_common`` under ``${ISAAC_ROS_WS}/src``.
 
    .. code:: bash
 
-      source install/setup.bash && \
-        ros2 launch isaac_ros_cumotion_examples franka_isaac_sim.launch.py
+      cd ${ISAAC_ROS_WS}/src && \
+         git clone :ir_clone:`<isaac_ros_common>`
 
-4. In a separate terminal, run the cuMotion planner node:
+3. Install the ``isaac_ros_cumotion_examples`` package and its dependencies
+   (including ``isaac_ros_cumotion`` and ``isaac_ros_cumotion_moveit``):
 
-   .. code:: bash
-
-      source install/setup.bash && \
-        ros2 run isaac_ros_cumotion cumotion_planner_node --ros-args -p robot:=franka.xrdf -p urdf_path:=/opt/ros/humble/share/moveit_resources_panda_description/urdf/panda.urdf
+   .. include:: /repositories_and_packages/isaac_ros_cumotion/isaac_ros_cumotion_moveit/_snippets/install.rst
 
-5. Install and configure Isaac Sim following the steps in the
+4. Install and configure Isaac Sim following the steps in the
    :doc:`Isaac ROS Isaac Sim Setup Guide </getting_started/isaac_sim/index>`, stopping after step 4.
-6. This tutorial uses the Isaac Sim "standalone workflow," in which Isaac Sim is launched via a python script.  In the
+
+5. This tutorial uses the Isaac Sim "standalone workflow," in which Isaac Sim is launched via a python script.  In the
    terminal opened using the **"Open in Terminal"** button in the Isaac Sim App Selector (and notably **not** in a shell
    within the Isaac ROS docker container), source your ROS 2 workspace, e.g.,
 
    .. code:: bash
 
       source /opt/ros/humble/setup.bash
 
-7. Run ``python.sh`` with the full path to the ``start_isaac_sim_franka.py`` script provided by the
+6. Run ``python.sh`` with the full path to the ``start_isaac_sim_franka.py`` script provided by the
    ``isaac_ros_cumotion_examples`` package.  Please note that this is a standalone script and could be copied to
    another location for convenience.
 
+   .. tabs::
+
+      .. tab:: Binary Package
+
+         Please clone or download the script from :ir_repo:`here <isaac_ros_cumotion> <isaac_ros_cumotion_examples/isaac_sim_scripts/start_isaac_sim_franka.py>`.  Then run it with ``python.sh`` as follows.
+
+         .. code:: bash
+
+            ./python.sh <DOWNLOAD_PATH>/start_isaac_sim_franka.py
+
+      .. tab:: Build from Source
+
+         .. code:: bash
+
+            ./python.sh ${ISAAC_ROS_WS}/src/isaac_ros_cumotion/isaac_ros_cumotion_examples/isaac_sim_scripts/start_isaac_sim_franka.py
+
+   Once Isaac Sim fully loads, the timeline will begin playing automatically.
+
+   .. note::
+
+      The example should be loaded in Isaac Sim before MoveIt is launched.
+
+7. In a terminal within the Isaac ROS Docker container, launch MoveIt (including RViz) using the provided
+   launch file.  Remember to first run ``source install/setup.bash`` if package was built from source.
+
    .. code:: bash
 
-      ./python.sh ${ISAAC_ROS_WS}/src/isaac_ros_cumotion/isaac_ros_cumotion_examples/isaac_sim_scripts/start_isaac_sim_franka.py
+      ros2 launch isaac_ros_cumotion_examples franka_isaac_sim.launch.py
+
+   The visualization of the robot in RViz should reflect the current joint state of the
+   simulated robot in Isaac Sim.
+
+7. In a separate terminal within the Docker container, run the cuMotion planner node.  Remember to first run
+   ``source install/setup.bash`` if package was built from source.
+
+   .. code:: bash
 
-   Once Isaac Sim fully loads, the timeline will begin playing automatically, with the simulated robot synchronized
-   to the one visualized in RViz.
+      ros2 run isaac_ros_cumotion cumotion_planner_node --ros-args -p robot:=franka.xrdf -p urdf_path:=/opt/ros/humble/share/moveit_resources_panda_description/urdf/panda.urdf
 
 8. In RViz, enable cuMotion by ensuring that ``isaac_ros_cumotion`` and ``cuMotion`` are selected within the
    **"Planning Library"** pane within the **"Context"** tab in the bottom left corner of the RViz window.

public/_sources/concepts/manipulation/index.rst.txt

@@ -14,9 +14,10 @@ perceived via cameras or other sensors.
 An example of perception-driven manipulation is unstructured picking, where the robot might be tasked
 with picking a variety of objects whose positions are not known in advance.  This requires modules
 to detect a given object, determine its pose, compute a suitable grasp (dependent on the installed gripper),
-plan a trajectory to bring the gripper to the desired pose while avoiding collisions, execute the planned trajectory, grasp the object, and finally plan a
-trajectory to the desired place point, all in real time.  More challenging scenarios might require the
-planner to adapt to a changing environment where the presence and positions of obstacles also vary.
+plan a trajectory to bring the gripper to the desired pose while avoiding collisions, execute the planned
+trajectory, grasp the object, and finally plan a trajectory to the desired place point, all in real time.
+More challenging scenarios might require the planner to adapt to a changing environment where the presence
+and positions of obstacles also vary.
 
 `Isaac Manipulator <https://developer.nvidia.com/isaac/manipulator>`_ consists of a set of components and
 :doc:`reference workflows </reference_workflows/isaac_manipulator/index>` for advanced perception-driven
@@ -28,14 +29,14 @@ obstacle-aware motion generation, described in more detail below.
 
 .. _concept-cumotion:
 
-Isaac cuMotion
---------------
+NVIDIA cuMotion
+---------------
 
-`Isaac cuMotion` is a software package for computing optimal-time, minimal-jerk trajectories for serial robot arms.
+`NVIDIA cuMotion` is a software package for computing optimal-time, minimal-jerk trajectories for serial robot arms.
 It is capable of avoiding collisions with obstacles represented as a set of cuboids, meshes, signed distance fields
 (computed from one or more depth image streams using :doc:`nvblox </repositories_and_packages/isaac_ros_nvblox/index>`),
 or any combination of the three.  cuMotion leverages NVIDIA hardware acceleration to compute such trajectories in
-less than 100 ms on Jetson AGX Orin or tens of milliseconds on a discrete GPU such as RTX 6000 (Ada Generation).
+a fraction of a second on Jetson AGX Orin or tens of milliseconds on a discrete GPU such as RTX 6000 (Ada Generation).
 
 In the current release, the planning capabilities of cuMotion are exposed via a plugin for
 `MoveIt 2 <https://moveit.picknik.ai>`_.  In addition, a ROS 2 node is provided that uses the current joint

public/_sources/concepts/manipulation/xrdf.rst.txt

@@ -4,7 +4,7 @@ Extended Robot Description Format (XRDF)
 In order to generate motion for a robot, the kinematics and collision geometry must be defined.
 
 The Universal Robot Description Format (URDF) is used to specify kinematics, but it does not
-include all the robot description required for motion generation via Isaac cuMotion.
+include all the robot description required for motion generation via NVIDIA cuMotion.
 
 The Extended Robot Description Format (XRDF) is designed to supplement the URDF by adding specification for:
 
@@ -14,7 +14,7 @@ The Extended Robot Description Format (XRDF) is designed to supplement the URDF
 * Masking to regulate self-collision avoidance.
 
 XRDF also allows minor modifications to the kinematic structure (e.g., adding new frames).
-These modifications are designed to, in general, allow existing URDFs to be used with Isaac cuMotion without
+These modifications are designed to, in general, allow existing URDFs to be used with cuMotion without
 changing the URDF directly.
 
 XRDF Specification

public/_sources/concepts/nitros_bridge/setup_ros1_docker.rst.txt

@@ -2,7 +2,7 @@ Create a ROS Noetic Container with ROS 1 Bridge
 =================================================
 
 
-1.  Clone the ``isaac_ros_common`` repository and ``ros1_bridge`` under ROS 2 workspace:
+1.  Clone the ``isaac_ros_common`` repository and ``ros1_bridge`` under ROS 1 workspace:
 
     .. code:: bash
 
@@ -29,4 +29,4 @@ Create a ROS Noetic Container with ROS 1 Bridge
     .. code:: bash
 
         cd ~/workspaces && \
-         docker build --build-arg USER_UID=$(id -u) --build-arg USER_GID=$(id -g) -t nitros_bridge -f ros1_ws/isaac_ros_1-dev/src/isaac_ros_nitros_bridge/docker/Dockerfile.ros1_noetic .
+         docker build --build-arg USER_UID=$(id -u) --build-arg USER_GID=$(id -g) -t nitros_bridge -f ros1_ws/isaac_ros_1-dev/src/isaac_ros_nitros_bridge/docker/Dockerfile.ros1_noetic .

public/_sources/concepts/nitros_bridge/tutorial_isaac_sim.rst.txt

@@ -0,0 +1,45 @@
+Tutorial for NITROS Bridge with Isaac Sim
+=================================================
+
+Overview
+------------
+
+This tutorial will walk you through how to use :ir_repo:`isaac_ros_nitros_bridge <isaac_ros_nitros_bridge> <isaac_ros_nitros_bridge_ros2>` to move images on the GPU while avoiding CPU memory copies from Isaac Sim.
+
+Tutorial Walkthrough
+--------------------
+
+1. Clone ``isaac_ros_common`` repository under a new workspace:
+
+  .. code:: bash
+
+    mkdir -p ~/isaac_sim_workspaces && \
+    cd ~/isaac_sim_workspaces && \
+    git clone :ir_clone:`<isaac_ros_common>`
+  
+2. Install and launch Isaac Sim under the Isaac Sim workspace following the steps in the :doc:`Isaac ROS Isaac Sim Setup Guide </getting_started/isaac_sim/index>`
+
+3. Press **Play** to start publishing data from the Isaac Sim.
+
+  .. note::
+
+    You should be able to see, using the command ``ros2 topic list``, two topics under the same main name, one for the standard ROS 2 `sensor_msgs/Image <https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/Image.msg>`__ (e.g.: ``/front_stereo_camera/left/image_rect_color``) and another for :ir_repo:`isaac_ros_nitros_bridge_interfaces/NitrosBridgeImage <isaac_ros_common> <isaac_ros_nitros_bridge_interfaces/msg/NitrosBridgeImage.msg>` (e.g.: ``/front_stereo_camera/left/image_rect_color/nitros_bridge``).
+
+4. Complete the step 3 & 4 from ``Set Up Development Environment`` section and ``Build from Source`` section following the ``isaac_ros_nitros_bridge_ros2`` quickstart :ref:`here <repositories_and_packages/isaac_ros_nitros_bridge/index:quickstart>`.
+
+
+5. Inside the container, change the ``ptrace`` scope to be able to run the NITROS Bridge:
+
+  .. code:: bash
+
+    echo 0 | sudo tee /proc/sys/kernel/yama/ptrace_scope
+  
+6. Inside the container, edit the :ir_repo:`isaac_ros_nitros_bridge_image_converter.launch.py <isaac_ros_nitros_bridge> <isaac_ros_nitros_bridge_ros2/launch/isaac_ros_nitros_bridge_image_converter.launch.py?ref_type=heads#L39>` ROS 2 launch file to remap the ``ros2_input_bridge_image`` to the Isaac Sim's NITROS Bridge topic name (e.g.: ``/front_stereo_camera/left/image_rect_color/nitros_bridge``). Then, run the following command to start the NITROS Bridge.
+
+  .. code:: bash
+
+    cd /workspaces/isaac_ros-dev && \
+      source install/setup.bash && \
+      ros2 launch isaac_ros_nitros_bridge_ros2 isaac_ros_nitros_bridge_image_converter.launch.py pub_image_name:=nitros_pub sub_image_name:=nitros_sub
+
+7. The converted NITROS image will be available under the ``nitros_pub`` topic.

public/_sources/concepts/object_detection/rtdetr/tutorial_isaac_sim.rst.txt

@@ -26,29 +26,19 @@ Tutorial Walkthrough
 
 3.  Install and launch Isaac Sim following the steps in the :doc:`Isaac ROS Isaac Sim Setup Guide </getting_started/isaac_sim/index>`.
 
-4.  Download the ``mac_and_cheese.usdz`` mesh file from NGC to ``${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_rtdetr``:
-
-    :ir_assets:`<isaac_ros_rtdetr> <isaac_sim.tar.gz>`
-
-5.  Import and place the ``mac_and_cheese.usdz`` in front of the camera in Isaac Sim as shown below:
-
-    .. figure:: :ir_lfs:`<resources/isaac_ros_docs/concepts/pose_estimation/foundationpose/isaac_ros_foundationpose_sim_mac_cheese_place.gif>`
-      :alt: Isaac ROS FoundationPose Isaac Sim Object setup
-      :align: center
-
-6.  Run the launch file.
+4.  Run the launch file.
 
     .. code:: bash
 
        ros2 launch isaac_ros_rtdetr isaac_ros_rtdetr_isaac_sim.launch.py
    
-7.  Press **Play** to start publishing data from the Isaac Sim.
+5.  Press **Play** to start publishing data from the Isaac Sim.
 
     .. figure:: :ir_lfs:`<resources/isaac_ros_docs/getting_started/isaac_sim_sample_scene.png>`
         :align: center
         :width: 600px
 
-8.  Validate that you see a visualization of the 2D object detection as shown below:
+6.  Validate that you see a visualization of the 2D object detection as shown below:
 
    .. figure:: :ir_lfs:`<resources/isaac_ros_docs/concepts/object_detection/rtdetr/isaac_sim_rtdetr.gif>`
       :alt: Isaac ROS RT-DETR

public/_sources/concepts/pose_estimation/foundationpose/tutorial_isaac_sim.rst.txt

@@ -38,29 +38,19 @@ Tutorial Walkthrough
 
 5.  Install and launch Isaac Sim following the steps in the :doc:`Isaac ROS Isaac Sim Setup Guide </getting_started/isaac_sim/index>`.
 
-6.  Download the ``mac_and_cheese.usdz`` mesh file from NGC to ``${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_foundationpose``:
-
-    :ir_assets:`<isaac_ros_foundationpose> <isaac_sim.tar.gz>`
-
-7.  Import and place the ``mac_and_cheese.usdz`` in front of the camera in Isaac Sim as shown below:
-
-    .. figure:: :ir_lfs:`<resources/isaac_ros_docs/concepts/pose_estimation/foundationpose/isaac_ros_foundationpose_sim_mac_cheese_place.gif>`
-      :alt: Isaac ROS FoundationPose Isaac Sim Object setup
-      :align: center
-
-8.  Run the launch file.
+6.  Run the launch file.
 
     .. code:: bash
 
        ros2 launch isaac_ros_foundationpose isaac_ros_foundationpose_isaac_sim.launch.py
    
-9.  Press **Play** to start publishing data from the Isaac Sim.
+7.  Press **Play** to start publishing data from the Isaac Sim.
 
     .. figure:: :ir_lfs:`<resources/isaac_ros_docs/getting_started/isaac_sim_sample_scene.png>`
         :align: center
         :width: 600px
 
-10.  Validate that you see a visualization of the 3D pose estimate as shown below:
+8.  Validate that you see a visualization of the 3D pose estimate as shown below:
 
    .. figure:: :ir_lfs:`<resources/isaac_ros_docs/concepts/pose_estimation/foundationpose/foudnationpose_isaac_sim.png>`
       :alt: Isaac ROS FoundationPose Hawk Tracking

public/_sources/concepts/scene_reconstruction/bi3d_freespace_segmentation/tutorial_isaac_sim.rst.txt

@@ -1,7 +1,7 @@
 Tutorial for Freespace Segmentation with Isaac Sim
 ==================================================
 
-.. figure:: :ir_lfs:`<resources/isaac_ros_docs/repositories_and_packages/isaac_ros_freespace_segmentation/Isaac_sim_tutorial.gif>`
+.. figure:: :ir_lfs:`<resources/isaac_ros_docs/repositories_and_packages/isaac_ros_freespace_segmentation/Isaac_sim_tutorial.png>`
     :width: 600px
     :align: center
 
@@ -20,28 +20,20 @@ Tutorial Walkthrough
     :ref:`Isaac ROS Freespace Segmentation quickstart <repositories_and_packages/isaac_ros_freespace_segmentation/isaac_ros_bi3d_freespace/index:quickstart>`.
 2.  Install and launch Isaac Sim following the steps in the :doc:`Isaac ROS Isaac Sim Setup Guide </getting_started/isaac_sim/index>`
 
-3.  Disable the clock reset when simulation is stopped. Go to the
-    *Stage* tab and select ``/World/ROS_Clock/isaac_read_simulation_time``,
-    then untick the *Reset On Stop* checkbox.
-
-    .. figure:: :ir_lfs:`<resources/isaac_ros_docs/repositories_and_packages/isaac_ros_freespace_segmentation/Isaac_sim_disable_clock_reset.png>`
-        :width: 500px
-        :align: center
-
-4.  Press **Play** to start publishing data from Isaac Sim.
+3.  Press **Play** to start publishing data from Isaac Sim.
 
     .. figure:: :ir_lfs:`<resources/isaac_ros_docs/getting_started/isaac_sim_sample_scene.png>`
         :align: center
         :width: 600px
 
-5.  Open a second terminal and attach to the container:
+4.  Open a second terminal and attach to the container:
 
     .. code:: bash
 
        cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
        ./scripts/run_dev.sh
 
-6.  In the second terminal, start the ``isaac_ros_bi3d`` node using the
+5.  In the second terminal, start the ``isaac_ros_bi3d`` node using the
     launch files:
 
     .. code:: bash
@@ -57,7 +49,7 @@ Tutorial Walkthrough
         :width: 500px
         :align: center
 
-7.  Optionally, you can run the visualizer script to visualize the
+6.  Optionally, you can run the visualizer script to visualize the
     disparity image:
 
     .. code:: bash