Aloha Workspace for Simulation #56
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Using the `create_workspace.sh` script, and remove `minimal_pkg`
These commands are also tested on a fresh machine with NVIDIA GPU on the
`ubuntu:22.04` base image.
When executing `vkcube`, the following error may occur if the Vulkan
config files are missing:
vkEnumerateInstanceExtensionProperties failed to find the VK_KHR_surface extension.
Do you have a compatible Vulkan installable client driver (ICD) installed?
Please look at the Getting Started guide for additional information.
If the required capabilities or libraries are missing, a black window
may popup with the following unwanted message:
Selected GPU 0: llvmpipe (LLVM 15.0.7, 256 bits), type: 4
It is worth noting that the behavior may differ if the host machine has
Vulkan SDK installed. For example, using `--device /dev/dri` on a host
machine with Vulkan installed may not require certain config files or
libraries. Therefore, it is important to always test on a fresh machine.
…graph support for joint state publishing in isaac sim
…om build time to runtime
…eded If perception becomes necessary in the future, revert this commit and check all commands related to `$INSTALL_PERCEPTION` in `xsarm_amd64_install.sh`
If matlab becomes necessary in the future, revert this commit.
This is required as observed in the `moveit/moveit2_tutorials` github
repo such as the `controller_manager` node:
https://github.com/moveit/moveit2_tutorials/blob/e03890b33be9d4e3a507af7310ec7d811b3d0d69/doc/how_to_guides/isaac_panda/launch/isaac_demo.launch.py
The ros control launch files `xsarm_ros_control.launch.py` contain nodes
such as the `controller_manager` node:
https://github.com/Interbotix/interbotix_ros_manipulators/blob/3eecabf18fc4e097f2ed3da230c543416e25b359/interbotix_ros_xsarms/interbotix_xsarm_ros_control/launch/xsarm_ros_control.launch.py
I think Gazebo doesn't require these nodes due to the
`libgazebo_ros2_control.so` plugin:
https://github.com/Interbotix/interbotix_ros_manipulators/blob/3eecabf18fc4e097f2ed3da230c543416e25b359/interbotix_ros_xsarms/interbotix_xsarm_descriptions/urdf/control.urdf.xacro
This is the default option when using Isaac Sim URDF Importer. It has been accidentally set to True while changing the articulation root.
API usages can be found in:
~/.local/share/ov/pkg/isaac-sim-4.1.0/extsPhysics/omni.physx.tests/omni/physxtests/testBases/filterTestBase.py
Conditionally run `rosdep install` based on the cache presence in the current container, not the install directory, as the install directory persists across containers.
Packages copied from the following command:
rosdep install --from-paths src --ignore-src -y -r --simulate
These paths can be found by the diff of standalone script logs and `isaacsim omni.isaac.sim` logs
The ros2 context node can be observed in the ROS 2 example `Isaac Examples > ROS2 > MoveIt`. Reference: https://docs.omniverse.nvidia.com/isaacsim/latest/ros2_tutorials/tutorial_ros2_moveit.html This omnigraph node seems to be optional. However, many Isaac Sim examples include this context node. I think it may allow more flexible omnigraphs in scenarios where multiple ros context are required. Ref: https://docs.ros.org/en/humble/p/rclcpp/generated/classrclcpp_1_1Context.html
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Tested on a clean machine with L40 GPUs. If host UID isn't 1000, the permission issue can be resolved by this simple workaround: #53 (comment) |
Warning message:
LegacyKeyValueFormat: "ENV key=value" should be used instead of legacy "ENV key value" format
…at` instead of `COPY` for simplicity Reference: https://github.com/j3soon/vulkan-container-runtime/blob/7db2704e1b4187aa88b6ff7a50c6f9a0a8391e1c/Dockerfile
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Note that this PR is tested with docker engine version 27. Lower docker versions such as version 25 will report error due to the |
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Just tested on a Ubuntu 22.04 Desktop environment with ARM CPU. MoveIt 2 can work without any code changes. Please note that Gazebo and Isaac Sim do not support ARM CPUs, so trying to run them on such hardware will fail as expected. |
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When controlling the Isaac Sim robot arm with MoveIt 2, it often exhibits overshooting behavior compared to Gazebo. The cause of this issue is still unclear. I suspect this issue may be related to the dampness and stiffness when importing the URDF. However, the dampness seems to be explicitly set to 0.1 in the vx300s URDF. The following are some potential references:
I think we can document this behavior in README and open an issue. This issue could be left to future investigation when we are integrating our UR5 arm. |
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I'll go ahead and merge this first. If you notice any issues in the future, please add your review here, and we can address them with a follow-up PR. Thanks! |
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This PR adds support for the following features:
These features were not present in the original codebase and can serve as references for future workspaces that incorporate robotic arms, MoveIt 2, or Isaac Sim.
Closes: #48
Isaac Sim
There are 3 ways to install Isaac Sim:
The first option is challenging to set up within a container. The second option involves using a closed-source Dockerfile, which requires a free NGC account to pull the image. This approach adds difficulties for future maintenance for several reasons:
osrf/ros:humble-desktop-full.chownall isaac-related filesThe third option, while still experimental, simplifies Isaac Sim installation through pip install, allowing for easier integration. Although not all tutorials are updated for this method, I have come up with straightforward workarounds and can make Isaac Sim integration similar to that of Gazebo.
In this PR, I choose to use the third option, and believe it can allows much easier future maintenance for this repo. Nevertheless, it is worth noting that the first two options remain valuable for scenarios where long-term maintenance isn't necessary, such as quick testing or prototyping.
Limitations
ExecuteProcessused in the launch file for Isaac Sim.In addition, after this PR is merged, we'll need to update
template_wsand other workspaces in a subsequent PR to ensure full Isaac Sim support across all workspaces. The modifications in thealoha_wsalso fixes several issues present in the currenttemplate_ws.Would appreciate if @YuZhong-Chen or @Assume-Zhan have some time to review this and provide some feedback. If you're able to, please add yourself to the
Reviewerssection before beginning the review. Thank you!