Update build instructions and README.md for isaac sim integration

Related to space-ros#48

canadarm2/README.md

@@ -8,8 +8,9 @@ To start the demo, there are few dependencies that need to be installed. The fol
 
 1. You will need ROS Humble on your host system. If it is not already installed, you can follow the instructions [here](https://docs.ros.org/en/humble/Installation.html).
 2. You will need Gazebo Sim installed on your system. If not, you can follow the instructions [here](https://gazebosim.org/docs/all/getstarted/).
-3. You will need docker installed on your system. If not, you can follow the instructions [here](https://docs.docker.com/get-docker/).
-4. Install xterm for running the demo. You can install it using the following command.
+3. You will need Nvidia's Isaac Sim installed on your system. If not, you can follow the instructions [here](https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_workstation.html).
+4. You will need docker installed on your system. If not, you can follow the instructions [here](https://docs.docker.com/get-docker/).
+5. Install xterm for running the demo. You can install it using the following command.
     ```bash
     sudo apt-get install xterm
     ```
@@ -39,8 +40,11 @@ To start the demo, there are few dependencies that need to be installed. The fol
     ```
 5. To run the demo, you can use the following command.
     ```bash
-    # To run the demo
+    # To run the demo with gazebo
     ./run.sh
+
+    # To run the demo with isaac sim
+    ./run.sh --isaacsim
     ```
 
 This will start the demo in one terminal and gazebo in another terminal. To control the canadarm2, we provide ros2 services for the demo. You can control the rover using the following services.

canadarm2/build.sh

@@ -9,7 +9,7 @@ SHELL="/bin/bash"
 
 # Define packages
 SIM_PACKAGES="canadarm_description canadarm_gazebo"
-CONTROL_PACKAGE="canadarm_moveit_config canadarm_demo"
+CONTROL_PACKAGE="canadarm_moveit_config canadarm_common canadarm_demo"
 DEMO_PACKAGES="$CONTROL_PACKAGE $SIM_PACKAGES"
 
 ####################################################################################################

canadarm2/run.sh

@@ -5,6 +5,17 @@ XTERM_CONFIG="-bg black -fg white -fa 'Monospace' -fs 11"
 DOCKER_IMAGE="osrf/space-ros:canadarm_demo"
 LOCAL_WORKSPACE=$(pwd)
 
+# Help function to describe each target
+help() {
+    echo "CanadArm2 Run Script"
+    echo "Usage: ./run.sh [--option]"
+    echo "Available options:"
+    echo "  ./run.sh help                   - Show this help message"
+    echo "  ./run.sh                        - Run the CanadArm2 control demo with Gazebo"
+    echo "  ./run.sh --isaacsim             - Run the CanadArm2 control demo with IsaacSim"
+    exit 0
+}
+
 # Run the CanadArm Gazebo simulation locally
 run-gazebo() {
     # shellcheck disable=SC2090
@@ -20,7 +31,7 @@ run-control-demo() {
     xterm $XTERM_CONFIG -T 'CanadArm2 Demo' -e "docker run -it --rm \
         -e RMW_IMPLEMENTATION=rmw_cyclonedds_cpp \
         $DOCKER_IMAGE \
-        bash -c 'source /home/spaceros-user/canadarm_ws/install/setup.bash && ros2 launch canadarm_demo canadarm.launch.py'" &
+        bash -c 'source /home/spaceros-user/canadarm_ws/install/setup.bash && $1'" &
 }
 
 check_docker() {
@@ -51,8 +62,20 @@ run() {
     check_xterm
     check_ros2
 
+    if [ "$1" == "--isaacsim" ]; then
+        echo "Running CanadArm2 control demo with IsaacSim"
+        LAUNCH_COMMAND="ros2 launch canadarm_demo canadarm.launch.py environment:=isaacsim"
+    else
+        echo "Running CanadArm2 control demo with Gazebo"
+        LAUNCH_COMMAND="ros2 launch canadarm_demo canadarm.launch.py"
+    fi
+
+    run-control-demo "$LAUNCH_COMMAND"
+    if [ "$1" == "--isaacsim" ]; then
+        exit 0
+    fi
     run-gazebo
-    run-control-demo
+
 }
 
-run
+run "$@"