From 6134c7beca3335f4be5c111f3924afa99d6010f6 Mon Sep 17 00:00:00 2001 From: Johnson Sun Date: Thu, 5 Sep 2024 16:33:29 +0800 Subject: [PATCH] docs(aloha_ws): Add RViz/Gazebo/MoveIt --- README.md | 1 + aloha_ws/README.md | 38 ++++++++++++++++++++++++++++++++++++++ 2 files changed, 39 insertions(+) diff --git a/README.md b/README.md index 8c6bef48..457d884e 100644 --- a/README.md +++ b/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 diff --git a/aloha_ws/README.md b/aloha_ws/README.md index 95c172aa..1235df40 100644 --- a/aloha_ws/README.md +++ b/aloha_ws/README.md @@ -1 +1,39 @@ # aloha_ws + +## Start Container + +```sh +cd ~/ros2-essentials/aloha_ws/docker +docker compose up +# 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 +``` + +## View Robot Model in Gazebo + +```sh +ros2 launch interbotix_xsarm_sim xsarm_gz_classic.launch.py robot_model:=vx300s +``` + +## MoveIt 2 + +```sh +# with Gazebo +ros2 launch interbotix_xsarm_moveit xsarm_moveit.launch.py robot_model:=vx300s hardware_type:=gz_classic +# or without Gazebo +ros2 launch interbotix_xsarm_moveit xsarm_moveit.launch.py robot_model:=vx300s hardware_type:=fake +``` + +## 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)