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Repository Summary
Description | piper_isaac_sim |
Checkout URI | https://github.com/agilexrobotics/piper_isaac_sim.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2024-11-22 |
Dev Status | UNKNOWN |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
piper_camera_moveit_config | 0.3.0 |
piper_description | 0.1.0 |
README
Piper_isaac_sim
测试系统配置:ubuntu22.04+4060显卡
1、配置系统环境
1)安装显卡驱动
2)下载NVIDIA Omniverse
3)下载isaac sim
安装isaac sim之前,可以使用ISAAC SIM COMPATIBILITY CHECKER检查一下,电脑配置是否满足要求
在Omniverse里面下载isaac sim
下载完成之后可以启动isaac sim
4)配置ROS2
5)配置moveit2
安装完Moveit2之后,需要安装一些依赖:
sudo apt-get install ros-humble-control* ros-humble-joint-trajectory-controller ros-humble-joint-state-* ros-humble-gripper-controllers ros-humble-trajectory-msgs
isaac sim和moveit通讯的功能包:
sudo apt install ros-humble-topic-based-ros2-control
2、使用方法
1)创建名为agilex_ws/src的文件夹
mkdir -p agilex_ws/src
2)下载代码
进入agilex_ws/src文件夹
cd agilex_ws/src
下载代码
https://github.com/agilexrobotics/piper_isaac_sim.git
3)编译代码
进入agilex_ws文件夹
cd agilex_ws
编译
colcon build
4)启动isaac sim,导入USD
打开isacc sim之后,在content中找到存放USD的路径,双击打开
成功导入后,点击三角按钮开始仿真
5)启动moveit
进入agilex_ws文件夹
cd agilex_ws
声明环境变量
source install/setup.bash
启动moveit
ros2 launch piper_camera_moveit_config demo.launch.py
6)联合仿真
在moveit中,拖动悬浮球控制机械臂运动
CONTRIBUTING
No CONTRIBUTING.md found.
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