ALOHA¶

Docker image version Docker image size

🐳 Start Container¶

Make sure your system meets the system requirements and have followed the setup instructions before using this workspace.

Run the following commands in a Ubuntu desktop environment. If you are using a remote server, make sure you're using a terminal within a remote desktop session (e.g., VNC) instead of SSH (i.e., don't use ssh -X or ssh -Y).

cd ~/ros2-essentials/aloha_ws/docker
docker compose build
xhost +local:docker
docker compose up -d
# The initial build will take a while, please wait patiently.

If your user's UID is 1000, you may replace the docker compose build command with docker compose pull.

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

If the initial build somehow failed, run:

rm -r build install
colcon build --symlink-install

Once you have finished testing, you can stop and remove the container with:

docker compose down

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/isaac-sim.sh

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/isaac-sim.sh --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.