Upgrade isaac to 4.2.0; also enable world loading and play at start

Author: andrewjong

.env

@@ -1,4 +1,6 @@
-PROJECT_NAME=airstack
-PROJECT_VERSION=1.0.0
+PROJECT_NAME="airstack"
+PROJECT_VERSION="1.0.0"
 # can replace with your docker hub username
-PROJECT_DOCKER_REGISTRY="airlab-storage.andrew.cmu.edu:5001/shared"
+PROJECT_DOCKER_REGISTRY="airlab-storage.andrew.cmu.edu:5001/shared"
+DEFAULT_ISAAC_SCENE="omniverse://airlab-storage.andrew.cmu.edu:8443/Projects/AirStack/fire_academy.scene.usd"
+PLAY_SIM_ON_START="true"

docs/getting_started.md

@@ -84,8 +84,7 @@ xhost +  # allow docker access to X-Server
 docker compose up -d
 ```
 
-Then open the stage from the Nucleus server:
-`airlab-storage.andrew.cmu.edu:8443/Projects/AirStack/neighborhood.scene.usd`
+This will automatically launch and play the Isaac scene specified under `AirStack/.env` (default is the Fire Academy).
 
 ## Move Robot
 

robot/docker/docker-compose.yaml

@@ -2,7 +2,8 @@
 services:
   # ===================================================================================================================
   # for developing locally on a single machine
-  robot_sim:
+  # note, this service name is currently used as the name of the robot
+  robot:
     profiles:
       - ""
       - sitl

simulation/isaac-sim/docker/Dockerfile.isaac-ros

@@ -1,8 +1,14 @@
 # expects context to be the root of the repository, i.e. AirStack/. this is so we can access AirStack/ros_ws/
-FROM nvcr.io/nvidia/isaac-sim:4.1.0
+FROM nvcr.io/nvidia/isaac-sim:4.2.0
 
 WORKDIR /isaac-sim
 
+# isaac's ros2 launch run_isaacsim.launch.py hardcodes to search in this path, so we have to put the executables here
+RUN mkdir -p /root/.local/share/ov/pkg/
+RUN ln -s /isaac-sim /root/.local/share/ov/pkg/isaac-sim-4.2.0
+# allows us to run isaac-sim as root
+ENV OMNI_KIT_ALLOW_ROOT=1
+
 # setup timezone
 RUN echo 'Etc/UTC' > /etc/timezone && \
     ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \

simulation/isaac-sim/docker/docker-compose.yaml

@@ -10,9 +10,8 @@ services:
     entrypoint: "" # override the default entrypoint with nothing
     # for some reason the tmux session manager only works when isaac is running in tmux
     command: >
-      bash -c "
-      tmux new -d -s isaac
-      && tmux send-keys -t isaac 'runapp' ENTER
+      bash -c " tmux new -d -s isaac 
+      && tmux send-keys -t isaac \"ros2 launch isaacsim run_isaacsim.launch.py gui:=${DEFAULT_ISAAC_SCENE} play_sim_on_start:=${PLAY_SIM_ON_START}\" ENTER 
       && sleep infinity"
     # Interactive shell
     stdin_open: true # docker run -i
@@ -53,7 +52,7 @@ services:
       - ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw
       - ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw
       - ~/docker/isaac-sim/documents:/root/Documents:rw
-      - ./user.config.json:/root/.local/share/ov/data/Kit/Isaac-Sim/4.1/user.config.json:rw
+      - ./user.config.json:/root/.local/share/ov/data/Kit/Isaac-Sim/4.2/user.config.json:rw
       - ./ui.py:/isaac-sim/kit/exts/omni.kit.widget.nucleus_connector/omni/kit/widget/nucleus_connector/ui.py:rw
       # developer stuff
       - .dev:/root/.dev:rw # developer config