Simulate Mobile Aloha in Gazebo

AgileX simulated Mobile Aloha in Gazebo 👏

Project environment

ubuntu 20.04

ros noetic

gazebo version 11

Compile

Run 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 directory

The file directory is as 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

 roslaunch arx5_moveit_config demo_gazebo.launch

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.