Simulate Mobile Aloha in Gazebo

[Agilex_Robotics]

AgileX simulated Mobile Aloha in Gazebo

Project environment

ubuntu 20.04

ros noetic

gazebo version 11

Compile

Run the commands in order.

mkdir src
cd src
git clone https://github.com/agilexrobotics/mobile_aloha_sim
cd ..
catkin_make

File directory

The file directory is shown below.

├── aloha_description
│   ├── aloha
│   ├── arx5_description
│   ├── arx5-urdf
│   │   ├── arx5
│   │   └── arx5p2
│   ├── livox_laser_simulation
│   └── tracer
│       ├── image
│       ├── tracer_description
│       └── tracer_gazebo_sim
├── aloha_mujoco
|   └── aloha
|       ├── CMakeLists.txt
|       ├── meshes_mujoco
|       │   ├── aloha_v1.xml
|       │   └── meshes_mujoco
|       ├── package.xml
|       └── scripts
|           ├── aloha_ctrl.py
|           └── aloha_ctrl_test.py
├── arx5_moveit_config
│   ├── config
│   └── launch
└── doc

Among them, aloha_mujoco is the implementation under mujoco simulation. For details, please refer to the aloha_mujoco folder.README

Start Gazebo

Start gazebo simulation

Run the command:

roslaunch arx5_moveit_config demo_gazebo.launch

You can see a mobile aloha model.

Gazebo introduction

After starting the gazebo simulation, there are two windows, one is the gazebo physical simulation window, and the other is the rviz window. In the rviz window, the moveit component can be called to plan the robotic arm.

In the gazebo simulation window, the right side of the screen displays the real-time physical simulation environment. The position information and kinematic simulation information of the robotic arm are displayed here. Gazebo will also feedback the simulated robotic arm status and execute the control angle sent by the planner.

In the rviz simulation window, the UI interface of the moveit component is displayed on the lower left side. Here you can select different planning groups (Planning Group) to control different robotic arms and grippers. The right window displays the real-time robot arm position, which is provided by gazebo simulation.

Move the mobile base

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

This is to start the mobile base control node. You can control the mobile base movement by sending the velocity.

Move the robotic arm

Drag the ‘teaching ball’ in the rviz interface and operate as shown in the figure. The robot arm will calculate the joint angle and robot arm trajectory based on the target end gripper position.

Note: After clicking Plan to start planning, the system takes time to calculate. When the Execute button changes from gray to black, click to execute the trajectory just planned.

Rviz simulation

The only difference between rviz simulation and gazebo simulation is that the physics simulation engine gazebo is not started, but only the data visualization platform rviz is started.

roslaunch arx5_moveit_config demo.launch

After startup, it will be the same as the rviz interface in gazebo simulation, just follow the above steps.

[Bravo_Bravovich]

~/catkin_ws/src$ catkin_lint mobile_aloha_sim/

catkin_lint: checked 9 packages and found 80 problems

What?)

вс, 14 апр. 2024 г., 16:25 Agilex_Robotics via ROS Discourse <notifications@ros.discoursemail.com>: