isaac_ros2_control_demo

Workspace half of the UR10 + MoveIt 2 in-process Controller Manager demo. The in-Isaac-Sim half lives in omni_isaac_sim_ros2_control/source/standalone_examples/api/isaacsim.ros2.control/.

Build

cd ~/IsaacSim-ros_workspaces/jazzy_ws
colcon build --packages-select isaac_ros2_control_demo
source install/setup.bash

Run

Terminal 1 (Isaac Sim, in the omni_isaac_sim_ros2_control repo):

source _build/linux-x86_64/release/setup_ros_env.sh
./_build/linux-x86_64/release/python.sh \
    source/standalone_examples/api/isaacsim.ros2.control/ur10_ros2_control_demo.py

Terminal 2 (this workspace):

ros2 launch isaac_ros2_control_demo ur10_in_process.launch.py

The launch waits indefinitely for /robot_description, reports its status every 60 seconds, validates the message, and writes it to a temporary ROS 2 parameter file before starting MoveIt. Press Ctrl+C to stop waiting.

RViz opens; Plan & Execute in the MotionPlanning panel drives the UR10 in Isaac Sim. The launch activates both controllers after the ControllerManager becomes available.

For offline testing or a file-based integration, pass robot_description_file:=/absolute/path/to/robot.urdf. Use robot_description_log_interval:=SECONDS to change the status interval.

vs isaac_moveit

• isaac_moveit: topic-based fake hardware, separate ros2_control_node.
• This package: real IsaacSimSystem hardware plugin loaded by an in-process ControllerManager. No external ros2_control_node; tighter physics-rate sync; matches real-robot bringup.