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README.md

aloha_ws

Start Container

cd ~/ros2-essentials/aloha_ws/docker
xhost +local:docker
docker compose up
# The first build will take a while (~10 mins), please wait patiently.

The commands in the following sections assume that you are inside the Docker container:

# in a new terminal
docker exec -it ros2-aloha-ws bash

View Robot Model in RViz

ros2 launch interbotix_xsarm_descriptions xsarm_description.launch.py robot_model:=vx300s use_joint_pub_gui:=true

It is worth noting that aloha_vx300s.urdf.xacro and vx300s.urdf.xacro files are identical. We opt to use vx300s since aloha_vx300s seems to lack corresponding configs, such as those for MoveIt 2.

View Robot Model in Gazebo

ros2 launch interbotix_xsarm_sim xsarm_gz_classic.launch.py robot_model:=vx300s

ROS 2 Control

ros2 launch interbotix_xsarm_control xsarm_control.launch.py robot_model:=vx300s use_sim:=true
# and then use the `Interbotix Control Panel`.

MoveIt 2 with RViz

ros2 launch interbotix_xsarm_moveit xsarm_moveit.launch.py robot_model:=vx300s hardware_type:=fake

MoveIt 2 with Gazebo

ros2 launch interbotix_xsarm_moveit xsarm_moveit.launch.py robot_model:=vx300s hardware_type:=gz_classic

MoveIt 2 with Isaac Sim

Prepare USD files:

cd /home/ros2-essentials/aloha_ws/isaacsim/scripts
./create_urdf_from_xacro.sh
python3 create_vx300s_from_urdf.py
python3 create_vx300s_with_omnigraph.py

and run:

ros2 launch interbotix_xsarm_moveit xsarm_moveit.launch.py robot_model:=vx300s hardware_type:=isaac
# and then move the target and use the `MotionPlanning` panel.

Debugging with Isaac Sim

The Isaac Sim app can be launched with:

isaacsim omni.isaac.sim

Keep in mind that the standalone scripts can be easily debugged in Isaac Sim's Script Editor. Simply copy the code, omitting anything related to SimulationApp (remove the beginning and end), and paste to the Script Editor and run it.

To open pre-configured USD file with OmniGraph:

  • File > Open and click My Computer, then in File name: type: 
    /home/ros2-essentials/aloha_ws/isaacsim/assets/vx300s_og.usd
  • Click Window > Visual Scripting > Action Graph
  • In the Action Graph tab, click Edit Action Graph and select /ActionGraph
  • Click Play (SPACE)

View the current joint states:

# in a new terminal
docker exec -it ros2-aloha-ws bash
ros2 topic echo /vx300s/joint_states

A specific world can also be directly launched and played with:

isaacsim omni.isaac.sim --exec '/home/ros2-essentials/aloha_ws/isaacsim/scripts/open_isaacsim_stage.py --path /home/ros2-essentials/aloha_ws/isaacsim/assets/vx300s_og.usd'

To access Nucleus from Isaac Sim, you should install Nucleus with default username/password admin:admin on your host machine or connect to an external Nucleus server.

References