AgileX simulated Mobile Aloha in Gazebo π
Project environmentubuntu 20.04
ros noetic
gazebo version 11
CompileRun the commands in order.
cd aloha_sim_ws
mkdir src
cd src
git clone https://github.com/agilexrobotics/mobile_aloha_sim
cd ..
catkin_make
File directoryThe file directory is as below.
βββ aloha_description
β βββ aloha
β βββ arx5_description
β βββ arx5-urdf
β β βββ arx5
β β βββ arx5p2
β βββ livox_laser_simulation
β βββ tracer
β βββ image
β βββ tracer_description
β βββ tracer_gazebo_sim
βββ aloha_mujoco
| βββ aloha
| βββ CMakeLists.txt
| βββ meshes_mujoco
| β βββ aloha_v1.xml
| β βββ meshes_mujoco
| βββ package.xml
| βββ scripts
| βββ aloha_ctrl.py
| βββ aloha_ctrl_test.py
βββ arx5_moveit_config
β βββ config
β βββ launch
βββ doc
Among them, aloha_mujoco is the implementation under mujoco simulation. For details, please refer to the aloha_mujoco folder.README
Start GazeboStart gazebo simulation roslaunch arx5_moveit_config demo_gazebo.launch
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 armDrag 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 simulationThe 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.
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