(HUMBLE) Fixed broken links detected by htmlproofer (#1074)

.github/workflows/deploy.yml

@@ -17,9 +17,9 @@ jobs:
   htmlproofer:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
 
-    - uses: actions/setup-python@v4
+    - uses: actions/setup-python@v5
       with:
         python-version: '3.8'
         cache: 'pip'
@@ -53,7 +53,7 @@ jobs:
     container:
       image: ${{ matrix.container }}
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
       with:
         ref: 'main'
 
@@ -77,7 +77,7 @@ jobs:
       run: tar cvzf artifact.tar.gz --directory=build/html .
 
     - name: Upload HTML Artifact
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v7
       with:
         name: '${{ matrix.branch }}_html_artifacts'
         path: artifact.tar.gz
@@ -86,12 +86,12 @@ jobs:
     runs-on: ubuntu-latest
     needs: upload_site_artifacts
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
       with:
         fetch-depth: 0
         ref: 'main'
 
-    - uses: actions/setup-python@v4
+    - uses: actions/setup-python@v6
       with:
         python-version: '3.10'
         cache: 'pip'
@@ -110,7 +110,7 @@ jobs:
 
     # TODO (peterdavidfagan): don't hardcode branches for downloads
     - name: Download Rolling Artifacts
-      uses: actions/download-artifact@v3
+      uses: actions/download-artifact@v7
       with:
         name: main_html_artifacts
         path: .
@@ -122,7 +122,7 @@ jobs:
         rm artifact.tar.gz
 
     - name: Download Humble Artifacts
-      uses: actions/download-artifact@v3
+      uses: actions/download-artifact@v7
       with:
         name: humble_html_artifacts
         path: .
@@ -144,7 +144,7 @@ jobs:
         cp -rf python_api/ build/html/main/doc/api/   # restore artifact html
 
     - name: Upload pages artifact
-      uses: actions/upload-pages-artifact@v2
+      uses: actions/upload-pages-artifact@v4
       if: github.repository_owner == 'ros-planning'
       with:
         path: build/html
@@ -159,4 +159,4 @@ jobs:
     steps:
       - name: Deploy to GitHub Pages
         id: deployment
-        uses: actions/deploy-pages@v2
+        uses: actions/deploy-pages@v4

.github/workflows/format.yml

@@ -19,8 +19,8 @@ jobs:
     name: Format
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v4
-    - uses: actions/setup-python@v4
+    - uses: actions/checkout@v6
+    - uses: actions/setup-python@v6
       with:
         python-version: '3.10'
     - name: Install clang-format-14

.pre-commit-config.yaml

@@ -28,7 +28,7 @@ repos:
       - id: trailing-whitespace
 
   - repo: https://github.com/psf/black
-    rev: 22.3.0
+    rev: 22.6.0
     hooks:
       - id: black
 

doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst

@@ -1,4 +1,142 @@
 How To Command Simulated Isaac Robot
 ====================================
 
-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>`_.
+This tutorial requires a machine with ``Isaac Sim 4.5`` (recommended) or higher installed.
+For Isaac Sim requirements and installation please see the `Omniverse documentation <https://docs.isaacsim.omniverse.nvidia.com/5.1.0/installation/requirements.html>`_.
+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#>`_.
+
+This tutorial has the following assumptions on system configuration:
+
+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.
+2. Docker is installed.
+   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>`_.
+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.
+
+Introduction to ros2_control
+----------------------------
+
+One of the recommended ways to execute trajectories calculated by MoveIt is to use the `ros2_control <https://control.ros.org/master/index.html>`_
+framework to manage and communicate with your robot, real or simulated. It comes highly recommended because it offers a developers a common API that
+allows your software to switch between many different robot types, and the sensors they have built in, by simply changing some launch arguments.
+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
+simulated or connecting to a physical robot.
+
+.. code-block:: XML
+
+    <hardware>
+      <xacro:if value="${use_fake_hardware}">
+        <plugin>mock_components/GenericSystem</plugin>
+      </xacro:if>
+      <xacro:unless value="${use_fake_hardware}">
+        <plugin>franka_hardware/FrankaHardwareInterface</plugin>
+        <param name="robot_ip">${robot_ip}</param>
+      </xacro:unless>
+    </hardware>
+
+
+`Hardware Components <https://control.ros.org/master/doc/getting_started/getting_started.html#hardware-components>`_
+can be of different types, but the plugin ``<plugin>mock_components/GenericSystem</plugin>`` is very a simple ``System``
+that forwards the incoming ``command_interface`` values to the tracked ``state_interface`` of the joints (i.e., perfect control of the simulated joints).
+
+For us to expand our Panda robot to Isaac Sim we first have to introduce `topic_based_ros2_control <https://github.com/PickNikRobotics/topic_based_ros2_control>`_.
+This Hardware Interface is a ``System`` that subscribes and publishes on configured topics.
+For this tutorial the topic ``/isaac_joint_states`` will contain the robot's current state and ``/isaac_joint_commands`` will be used to actuate it.
+The `moveit_resources_panda_moveit_config <https://github.com/moveit/moveit_resources/blob/humble/panda_moveit_config/config/panda.ros2_control.xacro#L7>`_
+we are using in this tutorial does not support connecting to hardware, so our ``ros2_control.xacro`` is now
+updated to load the ``TopicBasedSystem`` plugin when the flag ``ros2_control_hardware_type`` is set to ``isaac``.
+
+.. code-block:: XML
+
+    <xacro:if value="${ros2_control_hardware_type == 'mock_components'}">
+        <plugin>mock_components/GenericSystem</plugin>
+    </xacro:if>
+    <xacro:if value="${ros2_control_hardware_type == 'isaac'}">
+        <plugin>topic_based_ros2_control/TopicBasedSystem</plugin>
+        <param name="joint_commands_topic">/isaac_joint_commands</param>
+        <param name="joint_states_topic">/isaac_joint_states</param>
+    </xacro:if>
+
+In this tutorial we have included a Python script that loads a Panda robot
+and builds an `OmniGraph <https://docs.isaacsim.omniverse.nvidia.com/5.1.0/introduction/quickstart_isaacsim_robot.html>`_
+to publish and subscribe to the ROS topics used to control the robot.
+The OmniGraph also contains nodes to publish RGB and Depth images from the camera mounted on the hand of the Panda.
+The RGB image is published to the topic ``/rgb``, the camera info to ``/camera_info``, and the depth image to ``/depth``.
+The frame ID of the camera frame is ``/sim_camera``.
+To learn about configuring your Isaac Sim robot to communicate with ROS 2 please see the
+`Joint Control tutorial https://docs.isaacsim.omniverse.nvidia.com/latest/ros2_tutorials/tutorial_ros2_manipulation.html>`_
+on Omniverse.
+
+Computer Setup
+--------------
+
+1. Install `Isaac Sim <https://docs.isaacsim.omniverse.nvidia.com/5.1.0/installation/quick-install.html>`_.
+
+2. Perform a shallow clone of the MoveIt 2 Tutorials repo.
+
+.. code-block:: bash
+
+  git clone https://github.com/moveit/moveit2_tutorials.git -b main
+
+3. Go to the folder in which you cloned the tutorials and then switch to the following directory.
+
+.. code-block:: bash
+
+  cd moveit2_tutorials/doc/how_to_guides/isaac_panda
+
+4. Build the Docker image. This docker image also contains ``pytorch``.
+
+.. code-block:: bash
+
+  docker compose build base
+
+
+Running the MoveIt Interactive Marker Demo with Mock Components
+---------------------------------------------------------------
+
+This section tests out the ``mock_components/GenericSystem`` hardware interface, as opposed to using Isaac Sim.
+
+1. To test out the ``mock_components/GenericSystem`` hardware interface run:
+
+.. code-block:: bash
+
+  docker compose up demo_mock_components
+
+This will open up RViz with the Panda robot using ``mock_components`` to simulate the robot and execute trajectories.
+
+Please see the :doc:`Quickstart in RViz </doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial>`
+tutorial if this is your first time using MoveIt with RViz.
+
+After you are done testing press ``Ctrl+C`` in the terminal to stop the container.
+
+Running the MoveIt Interactive Marker Demo with Isaac Sim
+---------------------------------------------------------
+
+1. On the host computer, go to the tutorials launch directory.
+
+.. code-block:: bash
+
+  cd moveit2_tutorials/doc/how_to_guides/isaac_panda/launch
+
+2. Then run the following command to load the Panda Robot pre-configured to work with this tutorial.
+
+.. 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.
+  This step also takes a few minutes to download the assets and setup Isaac Sim so please be
+  patient and don't click the ``Force Quit`` dialog that pops up while the simulator starts.
+
+.. code-block:: bash
+
+  ./python.sh isaac_moveit.py
+
+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.
+
+.. code-block:: bash
+
+  docker compose up demo_isaac
+
+This will open up RViz with the Panda robot using the ``TopicBasedSystem`` interface to communicate with the simulated robot and execute trajectories.
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 5%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe width="700px" height="400px" src="https://www.youtube.com/embed/EiLaJ7e4M-4" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen></iframe>
+    </div>