Merge pull request #24 from NVIDIA-ISAAC-ROS/release-3.2

Isaac ROS 3.2

.gitattributes

@@ -25,6 +25,5 @@
 **/resources/**/*.yaml filter=lfs diff=lfs merge=lfs -text
 **/resources/**/*.bag filter=lfs diff=lfs merge=lfs -text
 
-# FIXME: Only for DNN packages
 # DNN Model files
 *.onnx filter=lfs diff=lfs merge=lfs -text

.gitignore

@@ -1,7 +1,6 @@
 # Ignore all pycache files
 **/__pycache__/**
 
-# FIXME: Only for DNN-based packages
 # Ignore TensorRT plan files
 *.plan
 *.engine

.gitmodules

@@ -1,4 +1,4 @@
 [submodule "curobo_core/curobo"]
 	path = curobo_core/curobo
 	url = https://github.com/NVlabs/curobo.git
-	branch = isaac-3.0
+	branch = isaac-3.2

README.md

@@ -46,6 +46,16 @@ The key advantages of using Isaac ROS cuMotion are:
 >    and be prepared to give necessary warnings, instructions, or take other necessary actions.
 > 5. Take extra caution when testing or deploying new features or code.
 
+Examples are provided for three modes of operation:
+
+* **Standalone MoveIt:** MoveIt’s RViz interface allows trajectories to be planned and visualized even without a physical
+  robot or external simulator.
+* **Simulated robot (Isaac Sim):** Trajectories may be planned and executed on a simulated robot in
+  [Isaac Sim](https://developer.nvidia.com/isaac/sim), allowing convenient development and rapid iteration without
+  use of physical hardware.  Simulated sensors enable testing of perception, e.g., for the purpose of collision avoidance.
+* **Physical robot:** For on-robot testing and final deployment, trajectories are planned and executed on a physical
+  robot.
+
 The Isaac ROS cuMotion repository currently contains the following packages:
 
 `isaac_ros_cumotion`:
@@ -78,6 +88,10 @@ Please visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/re
   * [Quickstart](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_cumotion/isaac_ros_cumotion_moveit/index.html#quickstart)
   * [Try More Examples](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_cumotion/isaac_ros_cumotion_moveit/index.html#try-more-examples)
   * [Troubleshooting](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_cumotion/isaac_ros_cumotion_moveit/index.html#troubleshooting)
+* [`isaac_ros_cumotion_object_attachment`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_cumotion/isaac_ros_cumotion_object_attachment/index.html)
+  * [Object Attachment](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_cumotion/isaac_ros_cumotion_object_attachment/index.html#object-attachment)
+  * [Troubleshooting](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_cumotion/isaac_ros_cumotion_object_attachment/index.html#troubleshooting)
+  * [API](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_cumotion/isaac_ros_cumotion_object_attachment/index.html#api)
 * [`isaac_ros_esdf_visualizer`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_cumotion/isaac_ros_esdf_visualizer/index.html)
   * [Overview](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_cumotion/isaac_ros_esdf_visualizer/index.html#overview)
   * [API](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_cumotion/isaac_ros_esdf_visualizer/index.html#api)
@@ -88,4 +102,4 @@ Please visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/re
 
 ## Latest
 
-Update 2024-09-26: Updated for Isaac ROS 3.1
+Update 2024-12-10: Added object following and pick-and-place workflows

curobo_core/package.xml

@@ -2,10 +2,11 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>curobo_core</name>
-  <version>3.1.0</version>
+  <version>3.2.0</version>
   <description>This package wraps the cuRobo library as a ROS 2 package. cuRobo serves as the current backend for cuMotion.</description>
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>
   <license>NVIDIA Isaac ROS Software License</license>
+  <build_depend>isaac_ros_common</build_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

curobo_core/setup.py

@@ -15,9 +15,32 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-from setuptools import find_namespace_packages, setup
+import importlib.util
+from pathlib import Path
+import sys
 from torch.utils.cpp_extension import BuildExtension, CUDAExtension
 
+from ament_index_python.packages import get_resource
+from setuptools import find_namespace_packages, setup
+
+ISAAC_ROS_COMMON_PATH = get_resource(
+    'isaac_ros_common_scripts_path',
+    'isaac_ros_common'
+)[0]
+
+ISAAC_ROS_COMMON_VERSION_INFO = Path(ISAAC_ROS_COMMON_PATH) / 'isaac_ros_common-version-info.py'
+
+spec = importlib.util.spec_from_file_location(
+    'isaac_ros_common_version_info',
+    ISAAC_ROS_COMMON_VERSION_INFO
+)
+
+isaac_ros_common_version_info = importlib.util.module_from_spec(spec)
+sys.modules['isaac_ros_common_version_info'] = isaac_ros_common_version_info
+spec.loader.exec_module(isaac_ros_common_version_info)
+
+from isaac_ros_common_version_info import GenerateVersionInfoCommand  # noqa: E402, I100
+
 package_name = 'curobo_core'
 
 extra_cuda_args = {
@@ -91,15 +114,19 @@
     zip_safe=True,
     maintainer='Isaac ROS Maintainers',
     maintainer_email='[email protected]',
-    description='This package wraps the cuRobo library as a ROS 2 package. cuRobo serves as the current backend for cuMotion.',
+    description='This package wraps the cuRobo library as a ROS 2 package. '
+                'cuRobo serves as the current backend for cuMotion.',
     license='NVIDIA Isaac ROS Software License',
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
         ],
     },
     ext_modules=ext_modules,
-    cmdclass={'build_ext': BuildExtension},
+    cmdclass={
+        'build_ext': BuildExtension,
+        'build_py': GenerateVersionInfoCommand,
+    },
     package_data={
         'curobo': ['**/*.*'],
     },

isaac_ros_cumotion/isaac_ros_cumotion/__init__.py

@@ -0,0 +1,21 @@
+# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
+# Copyright (c) 2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# SPDX-License-Identifier: Apache-2.0
+from .cumotion_goal_set_client import CumotionGoalSetClient
+
+__all__ = [
+    'CumotionGoalSetClient',
+]