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Fixed broken links detected by htmlproofer (moveit#1074)
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‎doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst‎

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How To Command Simulated Isaac Robot
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====================================
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This How To Guide has been moved, please see the `updated tutorial <https://moveit.picknik.ai/main/doc/how_to_guides/isaac_panda/isaac_panda_tutorial.html>`_.
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This tutorial requires a machine with ``Isaac Sim 4.5`` (recommended) or higher installed.
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For Isaac Sim requirements and installation please see the `Omniverse documentation <https://docs.isaacsim.omniverse.nvidia.com/5.1.0/installation/requirements.html>`_.
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To configure Isaac Sim to work with ROS 2 please see `this guide <https://docs.isaacsim.omniverse.nvidia.com/5.1.0/installation/install_ros.html#>`_.
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This tutorial has the following assumptions on system configuration:
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1. NVIDIA Isaac Sim is installed in the default location. Docker based installations of Isaac sim are also supported but it is up to the user to configure the system.
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2. Docker is installed.
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If you plan to use your GPU with MoveIt, you will need to install `nvidia-docker <https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#installing-on-ubuntu-and-debian>`_.
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3. You clone this repo so that you can build a Ubuntu 22.04 Humble based Docker image that can communicate with Isaac and run this tutorial.
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Introduction to ros2_control
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----------------------------
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One of the recommended ways to execute trajectories calculated by MoveIt is to use the `ros2_control <https://control.ros.org/master/index.html>`_
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framework to manage and communicate with your robot, real or simulated. It comes highly recommended because it offers a developers a common API that
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allows your software to switch between many different robot types, and the sensors they have built in, by simply changing some launch arguments.
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For example if we inspect the Panda Robot's ``ros2_control.xacro`` we can see it uses a flag ``use_fake_hardware`` to switch between being
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simulated or connecting to a physical robot.
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.. code-block:: XML
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<hardware>
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<xacro:if value="${use_fake_hardware}">
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<plugin>mock_components/GenericSystem</plugin>
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</xacro:if>
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<xacro:unless value="${use_fake_hardware}">
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<plugin>franka_hardware/FrankaHardwareInterface</plugin>
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<param name="robot_ip">${robot_ip}</param>
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</xacro:unless>
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</hardware>
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`Hardware Components <https://control.ros.org/master/doc/getting_started/getting_started.html#hardware-components>`_
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can be of different types, but the plugin ``<plugin>mock_components/GenericSystem</plugin>`` is very a simple ``System``
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that forwards the incoming ``command_interface`` values to the tracked ``state_interface`` of the joints (i.e., perfect control of the simulated joints).
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For us to expand our Panda robot to Isaac Sim we first have to introduce `topic_based_ros2_control <https://github.com/PickNikRobotics/topic_based_ros2_control>`_.
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This Hardware Interface is a ``System`` that subscribes and publishes on configured topics.
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For this tutorial the topic ``/isaac_joint_states`` will contain the robot's current state and ``/isaac_joint_commands`` will be used to actuate it.
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The `moveit_resources_panda_moveit_config <https://github.com/moveit/moveit_resources/blob/humble/panda_moveit_config/config/panda.ros2_control.xacro#L7>`_
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we are using in this tutorial does not support connecting to hardware, so our ``ros2_control.xacro`` is now
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updated to load the ``TopicBasedSystem`` plugin when the flag ``ros2_control_hardware_type`` is set to ``isaac``.
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.. code-block:: XML
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<xacro:if value="${ros2_control_hardware_type == 'mock_components'}">
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<plugin>mock_components/GenericSystem</plugin>
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</xacro:if>
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<xacro:if value="${ros2_control_hardware_type == 'isaac'}">
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<plugin>topic_based_ros2_control/TopicBasedSystem</plugin>
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<param name="joint_commands_topic">/isaac_joint_commands</param>
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<param name="joint_states_topic">/isaac_joint_states</param>
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</xacro:if>
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In this tutorial we have included a Python script that loads a Panda robot
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and builds an `OmniGraph <https://docs.isaacsim.omniverse.nvidia.com/5.1.0/introduction/quickstart_isaacsim_robot.html>`_
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to publish and subscribe to the ROS topics used to control the robot.
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The OmniGraph also contains nodes to publish RGB and Depth images from the camera mounted on the hand of the Panda.
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The RGB image is published to the topic ``/rgb``, the camera info to ``/camera_info``, and the depth image to ``/depth``.
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The frame ID of the camera frame is ``/sim_camera``.
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To learn about configuring your Isaac Sim robot to communicate with ROS 2 please see the
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`Joint Control tutorial https://docs.isaacsim.omniverse.nvidia.com/latest/ros2_tutorials/tutorial_ros2_manipulation.html>`_
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on Omniverse.
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Computer Setup
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--------------
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1. Install `Isaac Sim <https://docs.isaacsim.omniverse.nvidia.com/5.1.0/installation/quick-install.html>`_.
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2. Perform a shallow clone of the MoveIt 2 Tutorials repo.
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.. code-block:: bash
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git clone https://github.com/moveit/moveit2_tutorials.git -b main
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3. Go to the folder in which you cloned the tutorials and then switch to the following directory.
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.. code-block:: bash
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cd moveit2_tutorials/doc/how_to_guides/isaac_panda
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4. Build the Docker image. This docker image also contains ``pytorch``.
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.. code-block:: bash
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docker compose build base
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Running the MoveIt Interactive Marker Demo with Mock Components
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---------------------------------------------------------------
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This section tests out the ``mock_components/GenericSystem`` hardware interface, as opposed to using Isaac Sim.
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1. To test out the ``mock_components/GenericSystem`` hardware interface run:
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.. code-block:: bash
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docker compose up demo_mock_components
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This will open up RViz with the Panda robot using ``mock_components`` to simulate the robot and execute trajectories.
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Please see the :doc:`Quickstart in RViz </doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial>`
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tutorial if this is your first time using MoveIt with RViz.
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After you are done testing press ``Ctrl+C`` in the terminal to stop the container.
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Running the MoveIt Interactive Marker Demo with Isaac Sim
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---------------------------------------------------------
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1. On the host computer, go to the tutorials launch directory.
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.. code-block:: bash
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cd moveit2_tutorials/doc/how_to_guides/isaac_panda/launch
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2. Then run the following command to load the Panda Robot pre-configured to work with this tutorial.
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.. note:: This step assumes that a compatible version of Isaac Sim is installed on the host in the ``$HOME/isaacsim`` directory for Isaac Sim 4.5 or in the ``$HOME/.local/share/ov/pkg/`` directory for Isaac Sim 4.2 and older.
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This step also takes a few minutes to download the assets and setup Isaac Sim so please be
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patient and don't click the ``Force Quit`` dialog that pops up while the simulator starts.
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.. code-block:: bash
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./python.sh isaac_moveit.py
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3. From the ``moveit2_tutorials/doc/how_to_guides/isaac_panda`` directory start a container that connects to Isaac Sim using the ``topic_based_ros2_control/TopicBasedSystem`` hardware interface.
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.. code-block:: bash
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docker compose up demo_isaac
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This will open up RViz with the Panda robot using the ``TopicBasedSystem`` interface to communicate with the simulated robot and execute trajectories.
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.. raw:: html
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<div style="position: relative; padding-bottom: 5%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
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<iframe width="700px" height="400px" src="https://www.youtube.com/embed/EiLaJ7e4M-4" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen></iframe>
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</div>

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