Feature/manipulation scenario

dockers/manipulation_docker/.env

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+# List of packages to copy from humble_ws/src
+PACKAGES=manipulation_demo topic_based_ros2_control panda_moveit_config panda_description

dockers/manipulation_docker/Dockerfile

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+FROM moveit/moveit2:humble-release
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Build argument for packages to copy (set via docker-compose)
+ARG PACKAGES
+
+WORKDIR /root/humble_ws
+
+# Install apt dependencies and clone repos in one layer (rarely changes)
+COPY dockers/manipulation_docker/apt-requirements.txt dockers/manipulation_docker/dependency.repos /tmp/
+RUN apt-get update && \
+    xargs apt-get install -y < /tmp/apt-requirements.txt && \
+    rm -rf /var/lib/apt/lists/* && \
+    mkdir -p src && \
+    vcs import src < /tmp/dependency.repos
+
+# Copy only specific packages from humble_ws using a script
+COPY humble_ws/src /tmp/humble_ws_src
+RUN for pkg in $PACKAGES; do \
+      if [ -d "/tmp/humble_ws_src/$pkg" ]; then \
+        cp -r "/tmp/humble_ws_src/$pkg" /root/humble_ws/src/; \
+      else \
+        echo "Warning: Package $pkg not found in humble_ws/src"; \
+      fi \
+    done && \
+    rm -rf /tmp/humble_ws_src
+
+# Install ROS dependencies
+COPY dockers/manipulation_docker/ros-requirements.txt /tmp/ros-requirements.txt
+RUN apt-get update && \
+    rosdep update && \
+    rosdep install -y --from-paths src --ignore-src --rosdistro humble && \
+    xargs apt-get install -y < /tmp/ros-requirements.txt && \
+    rm -rf /var/lib/apt/lists/*
+
+# Build workspace
+RUN rm -rf build install log && \
+    . /opt/ros/humble/setup.sh && \
+    colcon build --symlink-install
+
+# Source workspace in bashrc
+RUN echo 'source /opt/ros/humble/setup.bash' >> /root/.bashrc && \
+    echo 'source /root/humble_ws/install/setup.bash' >> /root/.bashrc
+
+# Copy FastDDS config
+COPY dockers/manipulation_docker/fastdds.xml /root/.ros/fastdds.xml
+
+# Copy and setup entrypoint
+COPY dockers/manipulation_docker/entrypoint.sh /root/entrypoint.sh
+RUN chmod +x /root/entrypoint.sh
+
+# Set entrypoint
+ENTRYPOINT ["/root/entrypoint.sh"]

dockers/manipulation_docker/README.md

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+# MoveIt2 Manipulation Scenario (Panda Robot)
+
+Docker container for running MoveIt2 manipulation stack with Franka Emika Panda robot connected to Isaac Sim.
+
+```bash
+cd dockers/manipulation_docker
+./run_manipulation_example.sh --build
+```
+
+Container starts the launch file:
+- `isaac_moveit.launch.py` — MoveIt2 stack with robot controllers
+
+---
+
+## Running Pick and Place Demo
+
+Inside the running container:
+
+```bash
+ros2 run moveit_apps pick_and_place
+```
+
+This executes a complete pick-and-place sequence:
+1. Move to pre-grasp position above the cube
+2. Open gripper
+3. Lower to grasp position (Cartesian path)
+4. Close gripper
+5. Lift to pre-grasp height (Cartesian path)
+6. Lift to safe travel height
+7. Move to drop position above basket
+8. Open gripper to release cube
+9. Return to home position
+
+---
+
+For detailed documentation, see:
+
+[MoveIt2 Manipulation Tutorial](https://github.com/auraml/docs/blob/main/docs/tutorials/ros/moveit2_manipulation.md)

dockers/manipulation_docker/apt-requirements.txt

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+python3-vcstool

dockers/manipulation_docker/dependency.repos

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+repositories:
+  # No external dependencies for now - Panda is self-contained

dockers/manipulation_docker/docker-compose-manipulation.yml

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+services:
+  manipulation_scenario:
+    build:
+      context: ../..
+      dockerfile: dockers/manipulation_docker/Dockerfile
+      args:
+        PACKAGES: ${PACKAGES}
+    container_name: manipulation_scenario
+    network_mode: host
+    working_dir: /root/humble_ws
+    environment:
+      - DISPLAY=${DISPLAY}
+      - QT_X11_NO_MITSHM=1
+      - QT_QPA_PLATFORM=xcb
+      - XAUTHORITY=/tmp/.docker.xauth
+      - ROS_DISABLE_SHARED_MEMORY=1
+      - FASTRTPS_DEFAULT_PROFILES_FILE=/root/.ros/fastdds.xml
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - /tmp/.docker.xauth:/tmp/.docker.xauth
+    devices:
+      - /dev/dri:/dev/dri

dockers/manipulation_docker/entrypoint.sh

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+#!/bin/bash
+set -e
+
+# Source ROS2 and workspace
+source /opt/ros/humble/setup.bash
+source /root/humble_ws/install/setup.bash
+
+# Set FastDDS config
+export FASTRTPS_DEFAULT_PROFILES_FILE=/root/.ros/fastdds.xml
+
+echo "================================================"
+echo "Manipulation Scenario Container Started"
+echo "================================================"
+echo "Starting Isaac Sim + MoveIt2 integration..."
+echo "================================================"
+
+# Start Isaac MoveIt integration
+ros2 launch isaac_moveit isaac_moveit.launch.py ros2_control_hardware_type:=isaac
+
+# Keep container running
+wait

dockers/manipulation_docker/fastdds.xml

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+<?xml version="1.0" encoding="UTF-8" ?>
+<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
+    <transport_descriptors>
+        <transport_descriptor>
+            <transport_id>udp_transport</transport_id>
+            <type>UDPv4</type>
+        </transport_descriptor>
+    </transport_descriptors>
+
+    <participant profile_name="udp_only" is_default_profile="true">
+        <rtps>
+            <userTransports>
+                <transport_id>udp_transport</transport_id>
+            </userTransports>
+            <useBuiltinTransports>false</useBuiltinTransports>
+        </rtps>
+    </participant>
+</profiles>

dockers/manipulation_docker/ros-requirements.txt

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+ros-humble-moveit
+ros-humble-moveit-ros-move-group
+ros-humble-moveit-ros-planning-interface
+ros-humble-moveit-ros-perception
+ros-humble-moveit-configs-utils
+ros-humble-rviz2
+ros-humble-rviz-common
+ros-humble-rviz-default-plugins
+ros-humble-ros2-control
+ros-humble-ros2-controllers
+ros-humble-controller-manager
+ros-humble-joint-state-publisher
+ros-humble-robot-state-publisher
+ros-humble-rclcpp-action

dockers/manipulation_docker/run_manipulation_example.sh

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+#!/usr/bin/env bash
+
+declare SCRIPT_NAME=$(readlink -f ${BASH_SOURCE[0]})
+cd $(dirname $SCRIPT_NAME)
+
+BUILD_ARGS=""
+NO_CACHE=""
+
+while (( "$#" )); do
+  case "$1" in
+    -b|--build)
+      BUILD_ARGS="--build"
+      shift
+      ;;
+    -n|--no-cache)
+      BUILD_ARGS="--build"
+      NO_CACHE="--no-cache"
+      shift
+      ;;
+    *)
+      echo "Unknown argument $1"
+      echo "Usage: $0 [--build|-b] [--no-cache|-n]"
+      exit 1
+      ;;
+  esac
+done
+
+# Combine flags
+BUILD="$BUILD_ARGS $NO_CACHE"
+
+# Allow X11 forwarding for GUI applications
+xhost +local:docker
+
+docker compose -f docker-compose-manipulation.yml run ${BUILD} --rm manipulation_scenario

humble_ws/src/manipulation_demo/isaac_moveit/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(isaac_moveit)
+
+find_package(ament_cmake REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(moveit REQUIRED)
+
+install(DIRECTORY
+  rviz2
+  launch
+  DESTINATION share/${PROJECT_NAME})
+
+# Install Python executables
+install(PROGRAMS
+  DESTINATION lib/${PROJECT_NAME}
+)
+ament_package()