Update build instructions and README.md for isaac sim integration

Related to space-ros#48

canadarm2/README.md

@@ -6,7 +6,8 @@ This is a simple demo of controlling the canadarm using spaceROS.
 
 To start the demo, there are few dependencies that need to be installed. The following steps will guide you through the installation process.
 
-1. You will need docker installed on your system. If not, you can follow the instructions [here](https://docs.docker.com/get-docker/).
+1. You will need Nvidia's Isaac Sim installed on your system. If not, you can follow the instructions [here](https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_workstation.html).
+2. You will need docker installed on your system. If not, you can follow the instructions [here](https://docs.docker.com/get-docker/).
 
 ### How to run the demo
 
@@ -25,8 +26,11 @@ To start the demo, there are few dependencies that need to be installed. The fol
     ```
 4. To run the demo, you can use the following command.
     ```bash
-    # To run the demos for the canadarm2
+    # To run the demo with gazebo
     ./run.sh
+
+    # To run the demo with isaac sim
+    ./run.sh --isaacsim
     ```
 
 This will start the demo in one terminal and gazebo in another terminal. To control the canadarm2, we provide ros2 services for the demo. You can control the rover using the following services.

canadarm2/run.sh

@@ -1,4 +1,9 @@
 #!/bin/bash
 
 docker compose down
-docker compose up -d
+
+if [ "$1" == "--isaacsim" ]; then
+    docker compose up -d canadarm_isaacsim
+else
+    docker compose up -d
+fi