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| # Ref: https://squidfunk.github.io/mkdocs-material/publishing-your-site/ | ||
| name: Build Documentation | ||
| on: | ||
| push: | ||
| branches: | ||
| - master | ||
| - main | ||
| permissions: | ||
| contents: write | ||
| jobs: | ||
| deploy: | ||
| runs-on: ubuntu-latest | ||
| steps: | ||
| - uses: actions/checkout@v3 | ||
| # Ref: https://github.com/timvink/mkdocs-git-revision-date-localized-plugin#note-when-using-build-environments | ||
| with: | ||
| fetch-depth: '0' | ||
| - uses: actions/setup-python@v4 | ||
| with: | ||
| python-version: 3.x | ||
| - uses: actions/cache@v2 | ||
| with: | ||
| key: ${{ github.ref }} | ||
| path: .cache | ||
| - run: pip install -r requirements.txt | ||
| - run: mkdocs gh-deploy --force | ||
| # Ref: https://github.com/ojacques/mkdocs-git-committers-plugin-2 | ||
| # Ref: https://github.com/ojacques/mkdocs-git-committers-plugin-2/issues/51#issuecomment-1951450239 | ||
| env: | ||
| MKDOCS_GIT_COMMITTERS_APIKEY: ${{ secrets.MKDOCS_GIT_COMMITTERS_APIKEY }} | ||
|
|
||
| # DONE (Deploy the site): | ||
| # - In the forked GitHub repo page, go to `Settings > Pages` and change `Branch` to `gh-pages`: | ||
| # https://docs.github.com/en/pages/getting-started-with-github-pages/configuring-a-publishing-source-for-your-github-pages-site | ||
| # - Visit the site at `https://<username>.github.io/<repository>` | ||
| # - For using custom domain, refer to the link below: | ||
| # https://www.mkdocs.org/user-guide/deploying-your-docs/#custom-domains | ||
| # - To publish the site to other platforms, refer to the link below: | ||
| # https://squidfunk.github.io/mkdocs-material/publishing-your-site/ | ||
| # - Take Netlify as an example, follow: | ||
| # https://www.starfallprojects.co.uk/projects/deploy-host-docs/deploy-mkdocs-material-netlify/ | ||
| # Make sure to also set up the secrets: | ||
| # https://docs.netlify.com/environment-variables/get-started/#site-environment-variables |
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| # aloha_ws | ||
| # ROS 2 Essentials Workspace | ||
|
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| ## Start Container | ||
|
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||
| ```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. | ||
| ``` | ||
|
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||
| The commands in the following sections assume that you are inside the Docker container: | ||
|
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| ```sh | ||
| # in a new terminal | ||
| docker exec -it ros2-aloha-ws bash | ||
| ``` | ||
|
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| ## View Robot Model in RViz | ||
|
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| ```sh | ||
| ros2 launch interbotix_xsarm_descriptions xsarm_description.launch.py robot_model:=vx300s use_joint_pub_gui:=true | ||
| ``` | ||
|
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| 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. | ||
|
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|  | ||
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| ## View Robot Model in Gazebo | ||
|
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| ```sh | ||
| ros2 launch interbotix_xsarm_sim xsarm_gz_classic.launch.py robot_model:=vx300s | ||
| ``` | ||
|
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| ## ROS 2 Control | ||
|
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| ```sh | ||
| ros2 launch interbotix_xsarm_control xsarm_control.launch.py robot_model:=vx300s use_sim:=true | ||
| # and then use the `Interbotix Control Panel`. | ||
| ``` | ||
|
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||
|  | ||
|
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| ## MoveIt 2 with RViz | ||
|
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| ```sh | ||
| ros2 launch interbotix_xsarm_moveit xsarm_moveit.launch.py robot_model:=vx300s hardware_type:=fake | ||
| ``` | ||
|
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|  | ||
|
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| ## MoveIt 2 with Gazebo | ||
|
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| ```sh | ||
| ros2 launch interbotix_xsarm_moveit xsarm_moveit.launch.py robot_model:=vx300s hardware_type:=gz_classic | ||
| ``` | ||
|
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|  | ||
|
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| ## MoveIt 2 with Isaac Sim | ||
|
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| Prepare USD files: | ||
|
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| ```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 | ||
| ``` | ||
|
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| and run: | ||
|
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| ```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. | ||
| ``` | ||
|
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|  | ||
|
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| ### Debugging with Isaac Sim | ||
|
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| The Isaac Sim app can be launched with: | ||
|
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| ```sh | ||
| isaacsim omni.isaac.sim | ||
| ``` | ||
|
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| 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. | ||
|
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| To open pre-configured USD file with OmniGraph: | ||
|
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| - `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)` | ||
|
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| View the current joint states: | ||
|
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| ```sh | ||
| # in a new terminal | ||
| docker exec -it ros2-aloha-ws bash | ||
| ros2 topic echo /vx300s/joint_states | ||
| ``` | ||
|
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| A specific world can also be directly launched and played with: | ||
|
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| ```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' | ||
| ``` | ||
|
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| 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. | ||
|
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| ## References | ||
|
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| - [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) | ||
| Please visit <https://j3soon.github.io/ros2-essentials/> for documentation. |
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| # ROS2 Cartographer | ||
| # ROS 2 Essentials Workspace | ||
|
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| ### Run with docker | ||
|
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| ```bash | ||
| git clone https://github.com/j3soon/ros2-essentials.git | ||
| ``` | ||
|
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| ```bash | ||
| cd ros2-essentials/cartographer_ws/docker | ||
| docker compose pull | ||
| docker compose up -d --build | ||
| ``` | ||
|
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| ### Simple Test With Turtlebot3 | ||
|
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| - Attach to the container | ||
|
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| ```sh | ||
| docker attach ros2-cartographer-ws | ||
| cd /home/ros2-essentials/cartographer_ws | ||
| ``` | ||
| - Open the turtlebot simulation in `tmux` | ||
|
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| ```bash | ||
| export TURTLEBOT3_MODEL=burger | ||
| ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py | ||
| ``` | ||
| - Run the SLAM node in new window of `tmux` | ||
|
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| ```bash | ||
| ros2 launch turtlebot3_cartographer cartographer.launch.py is_sim:=True | ||
| ``` | ||
| - Run the control tool in new window of `tmux` | ||
|
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| ```bash | ||
| rqt_robot_steering | ||
| ``` | ||
|
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| ### Building Packages | ||
|
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| ```sh | ||
| docker attach ros2-cartographer-ws | ||
| cd /home/ros2-essentials/cartographer_ws | ||
| rosdep update | ||
| rosdep install --from-paths src --ignore-src --rosdistro humble -y | ||
| colcon build | ||
| ``` | ||
|
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| > After the build process, make sure to source the `install/setup.bash` file. | ||
| > Otherwise, ROS2 will not locate the executable files. You can open a new terminal to accomplish this. | ||
|
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| ### Multi LiDAR - Single Robot SLAM test | ||
|
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| #### Simulation | ||
|
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| - multi_lidar_desp package: Description of a robot with multiple LiDARs. | ||
| - multi_lidar_gazebo package: Gazebo simulation of the robot with robot state publisher. | ||
|
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| ```bash | ||
| ros2 launch multi_lidar_gazebo multi_lidar_gazebo.launch.py | ||
| ``` | ||
|
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| #### Run the SLAM node | ||
|
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| - Run the cartographer SLAM node in new window of `tmux` | ||
| ```bash | ||
| ros2 launch cartographer_demo cartographer_demo.launch.py is_sim:=True | ||
| ``` | ||
|
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| - Run the control tool in new window of `tmux` | ||
| ```bash | ||
| rqt_robot_steering | ||
| ``` | ||
|
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| #### References | ||
|
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| - [Cartographer Demo](https://google-cartographer-ros.readthedocs.io/en/latest/demos.html) | ||
| Please visit <https://j3soon.github.io/ros2-essentials/> for documentation. |
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