IRVLUTD / isaac_sim_moveit

MoveIt interface for Isaac Sim

MoveIt interface of the Fetch Mobile Manipulator for Isaac Sim

Installation / Dependencies

• Install isaac_sim

• Add this repo and the following packages to your ROS workspace, and compile the workspace

  • fetch_ros
  • ros_control
  • ros_controllers

Usage

1. launch standalone application using Isaac Sim Python

   cd standalone examples
   ./$ISAAC_ROOT/python fetch_moveit.py

2. launch fetch controllers

   cd launch
   roslaunch fetch_isaac_controllers.launch

3. launch moveit

   cd launch
   roslaunch fetch_isaac_moveit.launch

Example