docs: update

including contributing guidelines, isaac known issues, and maintainers

Author: j3soon

CONTRIBUTING.md

@@ -9,7 +9,7 @@ We welcome all kinds of contributions, including but not limited to bug reports,
 3. Fork the repository by visiting [ros2-essentials](https://github.com/j3soon/ros2-essentials) and clicking the "Fork" button.
 4. Clone the forked repository to your local machine, e.g., `git clone git@github.com:username/ros2-essentials.git`
 5. Create a new branch for your changes, e.g., `git checkout -b feat/your-feature-name` for a feature branch or `git checkout -b fix/your-bug-name` for a bug fix branch.
-6. Make your changes and ensure they are tested.
+6. Make your changes and ensure they are tested. To ensure reproducibility, consider re-clone your pushed branch and rerun the `post_install.sh` script to clear all untracked files and cached data.
 7. Push your local changes to your forked repository, e.g., `git push origin feat/your-feature-name`.
 8. Create a pull request to merge your changes into the main repository's `main` branch.
 
@@ -19,8 +19,9 @@ We welcome all kinds of contributions, including but not limited to bug reports,
 2. Commit description should include as much details as possible. Try to include references you consulted and your rationale behind the changes. This will be essential for reviewers to understand the changes and for future reference. (e.g., [`058ff59`](https://github.com/j3soon/ros2-essentials/commit/058ff598ae705c95516353cd14a71945176c337e))
 3. If copied files from other sources, please include the source in the commit message. If copied from GitHub, include the permalink (link with commit ID) and the branch name. (e.g., [`6a2dac1`](https://github.com/j3soon/ros2-essentials/commit/6a2dac186e1321dc7f7ec961ad22628bffc352d3))
 4. Each commit should be atomic and self-contained.
-5. If anyone helped you during the development, please include them in the commit message using the `Co-authored-by` format. (e.g., [`4f9832d`](https://github.com/j3soon/ros2-essentials/commit/4f9832d7a0c4156449d95b3503f9928d2d7de376))
-6. Refrain from force-pushes after a reviewer has started reviewing your changes.
+5. If anyone helped you during the development, please include them in the commit message using the `Co-authored-by` format (e.g., [`4f9832d`](https://github.com/j3soon/ros2-essentials/commit/4f9832d7a0c4156449d95b3503f9928d2d7de376) due to [this comment](https://github.com/j3soon/ros2-essentials/pull/85#discussion_r2204978905)). These include, but are not limited to, feedback from reviewers, in-person discussions, and pair programming sessions.
+6. Refrain from force-pushes after a reviewer has started reviewing your changes. The only exception is for new contributors when a reviewer has explicitly asked you to rebase your branch or modify commit messages.
+7. Use USDA instead of USD file format whenever possible for better readability and version control. (e.g., [PR#101](https://github.com/j3soon/ros2-essentials/pull/101))
 
 Use `git log` and search for related commits to understand the commit message format.
 
@@ -39,5 +40,6 @@ tests/test_all.sh
 ## Pull Request References
 
 - Creating a new module, see [PR#93](https://github.com/j3soon/ros2-essentials/pull/93) and [PR#95](https://github.com/j3soon/ros2-essentials/pull/95).
+- Creating and updating a workspace, see [PR#83](https://github.com/j3soon/ros2-essentials/pull/83), [PR#85](https://github.com/j3soon/ros2-essentials/pull/85), and [PR#101](https://github.com/j3soon/ros2-essentials/pull/101).
 - Updating Isaac Sim/Lab, see [PR#92](https://github.com/j3soon/ros2-essentials/pull/92).
 - Using OmniGraph and USDA, see [PR#83](https://github.com/j3soon/ros2-essentials/pull/83).

README.md

@@ -65,7 +65,6 @@ The docker image of the template workspace is share by most of the workspace, al
 |-----------|-------|-------|-------|------------|
 | [Template](https://j3soon.github.io/ros2-essentials/template-ws/) | ✔️ | ✔️ | | [Yu-Zhong Chen](https://github.com/YuZhong-Chen), [Johnson Sun](https://github.com/j3soon) |
 | [ORB-SLAM3](https://j3soon.github.io/ros2-essentials/orbslam3-ws) | ✔️ | ❌ | | [Assume Zhan](https://github.com/Assume-Zhan) |
-| [RTAB-Map](https://j3soon.github.io/ros2-essentials/rtabmap-ws/) | ✔️ | ❌ | | [Assume Zhan](https://github.com/Assume-Zhan) |
 | [ROS1 Bridge](https://j3soon.github.io/ros2-essentials/ros1-bridge-ws/) | ✔️ | ✔️ | Skip linting | [Yu-Zhong Chen](https://github.com/YuZhong-Chen) |
 | [Clearpath Husky](https://j3soon.github.io/ros2-essentials/husky-ws/) | ✔️ | ✔️ | Real-world support | [Yu-Zhong Chen](https://github.com/YuZhong-Chen), [Johnson Sun](https://github.com/j3soon) |
 | [Yujin Robot Kobuki](https://j3soon.github.io/ros2-essentials/kobuki-ws/) | ✔️ | ✔️ | Real-world support | [Yu-Zhong Chen](https://github.com/YuZhong-Chen) |
@@ -89,6 +88,7 @@ Edit the `build.args` section in the `*_ws/docker/compose.yml` file and rebuild
 |--------|-------|-------|-------|---------|------------|
 | [ROS2](https://j3soon.github.io/ros2-essentials/docker-modules/ros2/) | ✔️ | ✔️ | ROS2 Humble | ✔️ | [Yu-Zhong Chen](https://github.com/YuZhong-Chen) |
 | [Cartographer](https://j3soon.github.io/ros2-essentials/docker-modules/cartographer/) | ✔️ | ✔️ | ROS2 Cartographer | ➖ | [Assume Zhan](https://github.com/Assume-Zhan), [@yuhsiang1117](https://github.com/yuhsiang1117) |
+| [RTAB-Map](https://j3soon.github.io/ros2-essentials/docker-modules/rtabmap/) | ✔️ | ❔ | ROS2 RTAB-Map | ➖ | [Assume Zhan](https://github.com/Assume-Zhan), [@JustinShih0918](https://github.com/JustinShih0918) |
 | [CUDA Toolkit](https://j3soon.github.io/ros2-essentials/docker-modules/cuda-toolkit/) | ✔️ | ️TODO | CUDA 12.6 | ❌ | [Johnson Sun](https://github.com/j3soon) |
 | [Isaac Sim](https://j3soon.github.io/ros2-essentials/docker-modules/isaac-sim/) | ✔️ | ❌ | Isaac Sim 5.0.0 Binary Install | ✔️ | [Johnson Sun](https://github.com/j3soon), [@JustinShih0918](https://github.com/JustinShih0918) |
 | [Isaac Lab](https://j3soon.github.io/ros2-essentials/docker-modules/isaac-lab/) | ✔️ | ❌ | Isaac Lab 2.2.1 Git Install | ✔️ | [Johnson Sun](https://github.com/j3soon) |

docs/docker-modules/isaac-lab.md

@@ -38,3 +38,7 @@ cd ~/IsaacLab
 > ```sh
 > scripts/docker_run_official_isaac_lab.sh
 > ```
+
+## Known Issues
+
+See [official known issues](https://isaac-sim.github.io/IsaacLab/main/source/refs/issues.html) for Isaac Lab.

docs/docker-modules/isaac-ros.md

@@ -147,3 +147,7 @@ Then, click `2D Goal Pose` in the RViz window to set the goal pose.
 ![](assets/isaac-ros-nvblox-rviz.png)
 
 For further info, see more tutorials in [the official documentation](https://nvidia-isaac-ros.github.io/concepts/scene_reconstruction/nvblox/index.html#examples).
+
+## Known Issues
+
+See [official troubleshooting guide](https://nvidia-isaac-ros.github.io/troubleshooting/index.html) for Isaac ROS.

docs/docker-modules/isaac-sim.md

@@ -64,12 +64,22 @@ check_urdf $URDF_FILE
 
 > Note: URDF files are often not self-contained and may reference additional resources within their ROS package. For successful import, consider downloading/moving the entire package (such as the `<ROBOT_NAME>_description` directory) along with the URDF file. Otherwise, the import will fail.
 
+## Debugging Physics Simulation
+
+- [Physics Inspector](https://docs.isaacsim.omniverse.nvidia.com/5.1.0/physics/joint_inspector.html) to test the joints and limits.
+- [Visualize Colliders](https://docs.isaacsim.omniverse.nvidia.com/5.1.0/physics/physics_static_collision.html#enable-visualization), Joints, and Mass Properties.
+- [Simulation Data Visualizer](https://docs.isaacsim.omniverse.nvidia.com/5.1.0/physics/ext_isaacsim_inspect_physics.html) to track physics-related data during simulation.
+- [Measure Tool](https://docs.omniverse.nvidia.com/extensions/latest/ext_measure-tool.html) that can be installed under `Window > Extensions`.
+- `Utilities > Statistics` and select `RTX Scene` for scene optimization metrics.
+
 ## Generating OmniGraph for ROS2
 
 Instead of manually creating the OmniGraph via Isaac Sim GUI or Python code, the easier way is to use the [Graph Shortcut tool](https://docs.isaacsim.omniverse.nvidia.com/5.1.0/ros2_tutorials/tutorial_ros2_manipulation.html#graph-shortcut). A concrete example can be found in [PR#83](https://github.com/j3soon/ros2-essentials/pull/83).
 
 ## Known Issues
 
+See [official known issues](https://docs.isaacsim.omniverse.nvidia.com/5.1.0/overview/known_issues.html) for Isaac Sim.
+
 ```sh
 2025-07-10 21:42:18 [11,579ms] [Error] [omni.ext._impl._internal] Failed to import python module isaacsim.core.simulation_manager from /isaac-sim/exts/isaacsim.core.simulation_manager. Error: numpy.dtype size changed, may indicate binary incompatibility. Expected 96 from C header, got 88 from PyObject. Traceback:
 Traceback (most recent call last):