SO-ARM MoveIt IsaacSim

A ROS 2 Humble workspace for the SO-ARM robot with MoveIt motion planning integration for Isaac Sim.

Overview

This project provides MoveIt configuration and URDF description for the SO-ARM robot, designed to work with NVIDIA Isaac Sim for robotics simulation and motion planning.

Features

• ROS 2 Humble compatibility
• MoveIt 2 motion planning configuration
• Docker containerization for easy deployment
• Isaac Sim integration ready
• Complete URDF robot description
• Pre-configured launch files

Project Structure

so-arm_moveit_isaacsim/
├── src/
│   ├── so_arm_urdf/              # Robot URDF description
│   └── so_arm_moveit_config/     # MoveIt configuration
├── Dockerfile                    # Full Docker setup
├── Dockerfile.minimal           # Minimal Docker setup
├── build.log                    # Build logs
├── deps.txt                     # Dependencies list
└── find_deps.sh                 # Dependency finder script

Quick Start

Option 1: Docker (Recommended)

1. Clone the repository:

   git clone https://github.com/MuammerBay/SO-ARM_MoveIt_IsaacSim.git
   cd SO-ARM_MoveIt_IsaacSim

2. Build the Docker image:

   docker build -f Dockerfile.minimal -t so-arm-minimal .

3. Run the container:

   docker run -it --rm so-arm-minimal bash

4. Inside the container, test the packages:

   source /opt/ros/humble/setup.sh
   source install/setup.sh
   ros2 pkg list | grep so_arm

Option 2: Local Build

1. Prerequisites:

   • ROS 2 Humble installed
   • MoveIt 2 packages
   • colcon build tools

2. Clone and build:

   git clone https://github.com/MuammerBay/SO-ARM_MoveIt_IsaacSim.git
   cd SO-ARM_MoveIt_IsaacSim
   colcon build
   source install/setup.bash

Usage

Launch MoveIt Demo

# Source the workspace
source install/setup.bash

# Launch MoveIt demo (when available)
ros2 launch so_arm_moveit_config demo.launch.py

Available Packages

• so_arm_urdf: Robot description package with URDF files
• so_arm_moveit_config: MoveIt configuration with planning scenes, controllers, and launch files

Docker Images

Minimal Image (Dockerfile.minimal)

• Based on ros:humble-ros-base
• Includes core MoveIt packages
• Optimized for CI/CD and basic testing
• ~2GB compressed

Full Image (Dockerfile)

• Includes additional development tools
• GUI support for RViz
• Complete development environment

Development

Building Locally

# Clean previous builds (if folder was renamed)
rm -rf build/ install/ log/

# Build the workspace
colcon build

# Source the workspace
source install/setup.bash

Adding New Packages

1. Add your package to the src/ directory
2. Update dependencies in package.xml
3. Rebuild: colcon build

Troubleshooting

Folder Name Change Issues

If you renamed the workspace folder, clean the build artifacts:

rm -rf build/ install/ log/
colcon build

Docker Build Issues

If Docker build fails due to missing packages:

# Use the minimal Dockerfile which skips problematic dependencies
docker build -f Dockerfile.minimal -t so-arm-minimal .

Missing Dependencies

Check available packages:

# List ROS packages
apt list | grep ros-humble-

# Check rosdep dependencies
rosdep install --from-paths src --ignore-src -r -y --simulate

Contributing

1. Fork the repository
2. Create a feature branch: git checkout -b feature-name
3. Commit changes: git commit -am 'Add feature'
4. Push to branch: git push origin feature-name
5. Submit a Pull Request

License

This project is licensed under the BSD License - see the LICENSE file for details.

Acknowledgments

• Built with ROS 2 Humble and MoveIt 2
• Designed for NVIDIA Isaac Sim integration
• Based on standard ROS robotics practices

Contact

For questions and support, please open an issue on GitHub.