update document

README.md

@@ -1,2 +1,26 @@
-# isaac_ros2_utils
-This ROS 2 package provides various utilities (operation with ros2_control, automatic sensor generation and sensor data publishing) for easy use of Isaac Sim. 
+# ROS 2 utilities for Isaac Sim
+
+This repository provides utilities to use [Isaac Sim](https://developer.nvidia.com/isaac-sim) like [Gazebo classic](https://classic.gazebosim.org/).
+
+## Features
+
+- This spawns URDF model at the desired timing and position.
+- This provide ros2_control plugin to use ros2_controller, for example diff_drive_controller.
+- This supports rotational and prismatic joints using position and velocity control.
+- This sends joint status (position, velocity and effort) to ros2_control from Isaac Sim.
+- This launches sensors from URDF description.
+- This launchs sensors and controller at the desired timing.
+
+## System Requirements
+
+| Element | Minimum Spec |
+|----|--------------------|
+| OS | Ubuntu 22.04 |
+| CPU | Intel Core i7 (7th Generation) <br/> AMD Ryzen 5 |
+| Cores | 4 |
+| RAM | 32GB |
+| Storage | 50GB SSD |
+| GPU | GeForce RTX 2070 |
+| VRAM | 8GB |
+| ROS 2 | Humble |
+

docs/Demos/demo_for_arm_robot.md

@@ -0,0 +1,48 @@
+# Demo For Arm Robot
+
+![demo movie](../figs/arm_robot_test.gif)
+
+1. Install Docker and pull [Isaac Sim Docker Image](https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/install_container.html).
+
+2. Clone the repo to your ros2 workspace<br/>
+   ```bash
+   git clone https://github.com/hijimasa/isaac-ros2-control-sample.git
+   ```
+
+3. Get git submodules<br/>
+   ```bash
+   cd isaac-ros2-control-sample
+   git submodule update --init --recursive
+   ```
+
+4. Build a docker image with shell script.<br/>
+   ```bash
+   cd docker
+   ./build_docker_image.sh
+   ```
+
+5. Launch a docker container<br/>
+   ```bash
+   ./launch_docker.sh
+   ```
+
+6. Build ros2 source codes<br/>
+   ```bash
+   colcon build && source install/setup.bash
+   ```
+
+7. Launch simulator<br/>
+   ```bash
+   ros2 run isaac_ros2_scripts launcher
+   ```
+
+8. To spawn robot (another terminal)<br/>
+   ```bash
+   docker exec -it isaac-sim /bin/bash
+   ros2 launch franka_moveit_config demo.launch.py 
+   ```
+   <br/>You can control the robot from RViz.
+
+> [!NOTE]
+> For the first time, launching Isaac Sim takes a very long time.
+> Isaac Sim must be fully launched to spawn the robot.

docs/Demos/demo_for_mobile_robot.md

@@ -0,0 +1,53 @@
+# Demo For Mobile Robot
+
+![demo movie](../figs/shm_movie-2023-08-05_13.14.29.gif)
+
+1. Install Docker and pull [Isaac Sim Docker Image](https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/install_container.html).
+
+2. Clone the repo to your ros2 workspace<br/>
+   ```bash
+   git clone https://github.com/hijimasa/isaac-ros2-control-sample.git
+   ```
+
+3. Get git submodules<br/>
+   ```bash
+   cd isaac-ros2-control-sample
+   git submodule update --init --recursive
+   ```
+
+4. Build a docker image with shell script.<br/>
+   ```bash
+   cd docker
+   ./build_docker_image.sh
+   ```
+
+5. Launch a docker container<br/>
+   ```bash
+   ./launch_docker.sh
+   ```
+
+6. Build ros2 source codes<br/>
+   ```bash
+   colcon build && source install/setup.bash
+   ```
+
+7. Launch simulator<br/>
+   ```bash
+   ros2 run isaac_ros2_scripts launcher
+   ```
+
+8. Spawn robot (another terminal)<br/>
+   ```bash
+   docker exec -it isaac-sim /bin/bash
+   ros2 launch isaac_diffbot_sim diffbot_spawn.launch.py
+   ```
+
+9. Launch teleop_twist_keyboard (another terminal)<br/>
+   ```bash
+   docker exec -it isaac-sim /bin/bash
+   ros2 run teleop_twist_keyboard teleop_twist_keyboard
+   ```
+
+> [!NOTE]
+> For the first time, launching Isaac Sim takes a very long time.
+> Isaac Sim must be fully launched to spawn the robot.

docs/LICENCE.md

@@ -0,0 +1,25 @@
+# LICENCE
+
+```
+MIT License
+
+Copyright (c) 2024 Masaaki Hijikata
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+```

docs/Tutorials/tutorial.md

@@ -0,0 +1,13 @@
+# Tutorials
+
+- Set up URDF for ros2_control
+
+- Set up URDF for Sensors
+
+- How to Use Simulator Launcher
+
+- How to Spawn Robot
+
+- How to Launch ros2_control
+
+- How to Launch Sensors

docs/index.md

@@ -0,0 +1,48 @@
+# Introduction
+
+![demo movie](./figs/shm_movie-2023-06-13_21.52.52.gif)
+
+[This repository](https://github.com/hijimasa/isaac_ros2_utils) provides utilities to use [Isaac Sim](https://developer.nvidia.com/isaac-sim) like [Gazebo classic](https://classic.gazebosim.org/).
+
+## Features
+
+- This spawns URDF model at the desired timing and position.
+- This provide ros2_control plugin to use ros2_controller, for example diff_drive_controller.
+- This supports rotational and prismatic joints using position and velocity control.
+- This sends joint status (position, velocity and effort) to ros2_control from Isaac Sim.
+- This launches sensors from URDF description.
+- This launchs sensors and controller at the desired timing.
+
+## System Requirements
+
+| Element | Minimum Spec |
+|----|--------------------|
+| OS | Ubuntu 22.04 |
+| CPU | Intel Core i7 (7th Generation) <br/> AMD Ryzen 5 |
+| Cores | 4 |
+| RAM | 32GB |
+| Storage | 50GB SSD |
+| GPU | GeForce RTX 2070 |
+| VRAM | 8GB |
+| ROS 2 | Humble |
+
+Please refer to [Isaac Sim System Requirements](https://docs.omniverse.nvidia.com/isaacsim/latest/installation/requirements.html#system-requirements).
+
+## Demo
+
+[This sample repository](https://github.com/hijimasa/isaac-ros2-control-sample) provides demonstlations for mobile robot and arm robot.
+
+Please check following documents.
+
+[For Mobile Robot](./Demos/demo_for_mobile_robot.md)
+
+[For Arm Robot](./Demos/demo_for_arm_robot.md)
+
+## How to Use
+
+Check [this tutorial](./Tutorials/tutorial.md).
+
+## LICENCE
+
+This repository is provided with MIT licence.
+Please refer to [this](./LICENCE.md).

docs/ja/LICENCE.md

@@ -0,0 +1 @@
+# ライセンス

docs/ja/index.md

@@ -0,0 +1,48 @@
+# はじめに
+
+![demo movie](../figs/shm_movie-2023-06-13_21.52.52.gif)
+
+[このリポジトリ](https://github.com/hijimasa/isaac_ros2_utils)は、[Gazebo Classic](ttps://classic.gazebosim.org/)のような使いやすいユーティリティツールを[Isaac Sim](https://developer.nvidia.com/isaac-sim)で提供するためのものです。
+
+## 特徴
+
+- URDFモデルを任意のタイミングと位置姿勢で生成できます。
+- ros2_controller（例：diff_drive_controller）を使用するためのros2_controlプラグインを提供します。
+- 位置制御と速度制御を使った回転関節と角柱関節をサポートしています。
+- Isaac Simからros2_controlに関節の状態(位置、速度、力)を送信します。
+- URDFの記述からセンサを起動します。
+- センサとコントローラを任意のタイミングで起動できます。
+
+## システム要件
+
+| 要素 | 最小スペック |
+|----|--------------------|
+| OS | Ubuntu 22.04 |
+| CPU | Intel Core i7 (7th Generation) <br/> AMD Ryzen 5 |
+| Cores | 4 |
+| RAM | 32GB |
+| Storage | 50GB SSD |
+| GPU | GeForce RTX 2070 |
+| VRAM | 8GB |
+| ROS 2 | Humble |
+
+[こちら](https://docs.omniverse.nvidia.com/isaacsim/latest/installation/requirements.html#system-requirements)のIsaac Simのシステム要件を参照してください。
+
+## デモ
+
+[サンプルリポジトリ](https://github.com/hijimasa/isaac-ros2-control-sample)で移動ロボットとアームロボットのデモンストレーションを提供しています。
+
+使い方は下記のドキュメントを参照ください。
+
+- [移動ロボット向け](./デモ/demo_for_mobile_robot.md)
+
+- [アームロボット向け](./デモ/demo_for_arm_robot.md)
+
+## 使い方
+
+[こちら](./チュートリアル/tutorial.md)のドキュメントを参照ください。
+
+## ライセンス
+
+このリポジトリはMITライセンスで提供されます。
+詳細は[こちら](./LICENCE.md)を参照ください。

docs/ja/チュートリアル/tutorial.md

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+# チュートリアル
+
+- URDFへのros2_cotnrolタグの記述方法
+
+- URDFへのセンサ情報の記述方法
+
+- シミュレーションランチャーの使い方
+
+- ロボットの生成方法
+
+- ros2_controlの立ち上げ方
+
+- センサの立ち上げ方

docs/ja/デモ/demo_for_arm_robot.md

@@ -0,0 +1,46 @@
+# アームロボット向けデモ
+
+1. Install Docker and pull [Isaac Sim Docker Image](https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/install_container.html).
+
+2. Clone the repo to your ros2 workspace<br/>
+   ```bash
+   git clone https://github.com/hijimasa/isaac-ros2-control-sample.git
+   ```
+
+3. Get git submodules<br/>
+   ```bash
+   cd isaac-ros2-control-sample
+   git submodule update --init --recursive
+   ```
+
+4. Build a docker image with shell script.<br/>
+   ```bash
+   cd docker
+   ./build_docker_image.sh
+   ```
+
+5. Launch a docker container<br/>
+   ```bash
+   ./launch_docker.sh
+   ```
+
+6. Build ros2 source codes<br/>
+   ```bash
+   colcon build && source install/setup.bash
+   ```
+
+7. Launch simulator<br/>
+   ```bash
+   ros2 run isaac_ros2_scripts launcher
+   ```
+
+8. To spawn robot (another terminal)<br/>
+   ```bash
+   docker exec -it isaac-sim /bin/bash
+   ros2 launch franka_moveit_config demo.launch.py 
+   ```
+   <br/>You can control the robot from RViz.
+
+> [!NOTE]
+> For the first time, launching Isaac Sim takes a very long time.
+> Isaac Sim must be fully launched to spawn the robot.

docs/ja/デモ/demo_for_mobile_robot.md

@@ -0,0 +1,51 @@
+# 移動ロボット向けデモ
+
+1. Install Docker and pull [Isaac Sim Docker Image](https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/install_container.html).
+
+2. Clone the repo to your ros2 workspace<br/>
+   ```bash
+   git clone https://github.com/hijimasa/isaac-ros2-control-sample.git
+   ```
+
+3. Get git submodules<br/>
+   ```bash
+   cd isaac-ros2-control-sample
+   git submodule update --init --recursive
+   ```
+
+4. Build a docker image with shell script.<br/>
+   ```bash
+   cd docker
+   ./build_docker_image.sh
+   ```
+
+5. Launch a docker container<br/>
+   ```bash
+   ./launch_docker.sh
+   ```
+
+6. Build ros2 source codes<br/>
+   ```bash
+   colcon build && source install/setup.bash
+   ```
+
+7. Launch simulator<br/>
+   ```bash
+   ros2 run isaac_ros2_scripts launcher
+   ```
+
+8. Spawn robot (another terminal)<br/>
+   ```bash
+   docker exec -it isaac-sim /bin/bash
+   ros2 launch isaac_diffbot_sim diffbot_spawn.launch.py
+   ```
+
+9. Launch teleop_twist_keyboard (another terminal)<br/>
+   ```bash
+   docker exec -it isaac-sim /bin/bash
+   ros2 run teleop_twist_keyboard teleop_twist_keyboard
+   ```
+
+> [!NOTE]
+> For the first time, launching Isaac Sim takes a very long time.
+> Isaac Sim must be fully launched to spawn the robot.