Merge pull request #56 from j3soon/aloha-ws

Aloha Workspace for Simulation

README.md

@@ -24,6 +24,7 @@ Pulling the pre-built Docker images can bypass the time-consuming building proce
 | `j3soon/ros2-kobuki-ws` [[tags](https://hub.docker.com/r/j3soon/ros2-kobuki-ws/tags)][[code](./kobuki_ws)] | ✔️ | ✔️ | Real-world support | [Yu-Zhong Chen](https://github.com/YuZhong-Chen) |
 | `j3soon/ros2-vlp-ws` [[tags](https://hub.docker.com/r/j3soon/ros2-vlp-ws/tags)][[code](./vlp_ws)] | ✔️ | ✔️ | Real-world support | [Assume Zhan](https://github.com/Assume-Zhan) |
 | `j3soon/ros2-gazebo-world-ws` [[tags](https://hub.docker.com/r/j3soon/ros2-gazebo-world-ws/tags)][[code](./gazebo_world_ws)] | ✔️ | ❌️ | | [Yu-Zhong Chen](https://github.com/YuZhong-Chen) |
+| `j3soon/aloha-ws` [[tags](https://hub.docker.com/r/j3soon/ros2-aloha-ws/tags)][[code](./aloha_ws)] | ✔️ | ❌️ | Simulation only | |
 
 ## Acknowledgement
 

aloha_ws/.devcontainer/devcontainer.json

@@ -0,0 +1,23 @@
+/* Reference: https://aka.ms/devcontainer.json */
+{
+    "name": "aloha-ws",
+    "dockerComposeFile": "../docker/compose.yaml",
+    "service": "aloha-ws",
+    // Workspace settings
+    "workspaceFolder": "/home/ros2-essentials/aloha_ws",
+    // Vscode extensions
+    "customizations": {
+        "vscode": {
+            "extensions": [
+                "ms-vscode.cpptools",
+                "ms-vscode.cpptools-themes",
+                "twxs.cmake",
+                "donjayamanne.python-extension-pack",
+                "eamodio.gitlens",
+                "mhutchie.git-graph",
+                "streetsidesoftware.code-spell-checker",
+                "ms-iot.vscode-ros"
+            ]
+        }
+    }
+}

aloha_ws/.gitignore

@@ -0,0 +1,11 @@
+# Visual Studio Code
+.vscode
+
+# ROS2 basic directories
+/build
+/install
+/log
+
+# Custom ignores
+/isaacsim/assets
+/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_descriptions/urdf/*.urdf

aloha_ws/README.md

@@ -0,0 +1,124 @@
+# aloha_ws
+
+## Start Container
+
+```sh
+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:
+
+```sh
+# in a new terminal
+docker exec -it ros2-aloha-ws bash
+```
+
+## View Robot Model in RViz
+
+```sh
+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.
+
+![](figure/rviz.png)
+
+## View Robot Model in Gazebo
+
+```sh
+ros2 launch interbotix_xsarm_sim xsarm_gz_classic.launch.py robot_model:=vx300s
+```
+
+## ROS 2 Control
+
+```sh
+ros2 launch interbotix_xsarm_control xsarm_control.launch.py robot_model:=vx300s use_sim:=true
+# and then use the `Interbotix Control Panel`.
+```
+
+![](figure/ros2-control.png)
+
+## MoveIt 2 with RViz
+
+```sh
+ros2 launch interbotix_xsarm_moveit xsarm_moveit.launch.py robot_model:=vx300s hardware_type:=fake
+```
+
+![](figure/moveit-rviz.png)
+
+## MoveIt 2 with Gazebo
+
+```sh
+ros2 launch interbotix_xsarm_moveit xsarm_moveit.launch.py robot_model:=vx300s hardware_type:=gz_classic
+```
+
+![](figure/moveit-gazebo.png)
+
+## MoveIt 2 with Isaac Sim
+
+Prepare USD files:
+
+```sh
+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:
+
+```sh
+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.
+```
+
+![](figure/moveit-isaacsim.png)
+
+### Debugging with Isaac Sim
+
+The Isaac Sim app can be launched with:
+
+```sh
+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:
+
+```sh
+# 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:
+
+```sh
+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](https://docs.omniverse.nvidia.com/nucleus/latest/workstation/installation.html) with default username/password `admin:admin` on your host machine or connect to an external Nucleus server.
+
+## References
+
+- [Interbotix X-Series Arms \| Trossen Robotics Documentation](https://docs.trossenrobotics.com/interbotix_xsarms_docs/index.html)
+  - [ROS 2 Interface](https://docs.trossenrobotics.com/interbotix_xsarms_docs/ros_interface/ros2.html)
+    - [ROS 2 Standard Software Setup](https://docs.trossenrobotics.com/interbotix_xsarms_docs/ros_interface/ros2/software_setup.html)
+  - [ROS 2 Open Source Packages](https://docs.trossenrobotics.com/interbotix_xsarms_docs/ros2_packages.html)
+- [Stationary ALOHA Software Setup \| Trossen Robotics Documentation](https://docs.trossenrobotics.com/aloha_docs/getting_started/stationary/software_setup.html)

aloha_ws/docker/.bashrc

@@ -0,0 +1,53 @@
+# Setup paths in `~/.profile` to allow unified environment variable across login/non-login shells
+# set PATH so it includes user's private bin if it exists
+if [ -d "$HOME/bin" ] ; then
+    PATH="$HOME/bin:$PATH"
+fi
+# set PATH so it includes user's private bin if it exists
+if [ -d "$HOME/.local/bin" ] ; then
+    PATH="$HOME/.local/bin:$PATH"
+fi
+# Source global ROS2 environment
+source /opt/ros/$ROS_DISTRO/setup.bash
+# Optionally perform apt update if it has not been executed yet
+if [ -z "$( ls -A '/var/lib/apt/lists' )" ]; then
+    echo "apt-get update has not been executed yet. Running sudo apt-get update..."
+    sudo apt-get update
+fi
+# Optionally perform rosdep update if it has not been executed yet
+if [ ! -d $HOME/.ros/rosdep/sources.cache ]; then
+    echo "rosdep update has not been executed yet. Running rosdep update..."
+    rosdep update
+    cd $ROS2_WS
+    # Ref: https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html
+    rosdep install --from-paths src --ignore-src -y -r
+fi
+# Optionally build the workspace if it has not been built yet
+if [ ! -f $ROS2_WS/install/setup.bash ]; then
+    echo "Workspace has not been built yet. Building workspace..."
+    cd $ROS2_WS
+    # TODO: If command `arch` outputs `aarch64`, consider adding `--packages-ignore <package>` to ignore x86 packages
+    # Ref: https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html
+    if [ $(arch) == "aarch64" ]; then
+        colcon build --symlink-install
+    else
+        colcon build --symlink-install
+    fi
+    echo "Workspace built."
+fi
+# Source gazebo environment
+# Ref: https://github.com/Interbotix/interbotix_ros_manipulators/issues/81#issuecomment-1562118208
+# Ref: https://classic.gazebosim.org/tutorials?tut=ros2_installing&cat=connect_ros#InstallGazebo
+if [ $(arch) == "x86_64" ]; then
+  source /usr/share/gazebo/setup.bash
+fi
+# TODO: Source other workspace environments as underlay
+# Set Isaac Sim environment variables
+# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
+# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
+export OMNI_USER=admin
+export OMNI_PASS=admin
+export OMNI_KIT_ACCEPT_EULA=YES
+# Source workspace environment
+source $ROS2_WS/install/setup.bash
+echo "Successfully built workspace and configured environment variables."

aloha_ws/docker/.dockerignore

@@ -0,0 +1,4 @@
+*
+!.bashrc
+!script
+!udev_rules