piper_isaac_sim repository

piper_isaac_sim repository

piper_isaac_sim repository

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

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

下载链接

2)下载NVIDIA Omniverse

下载链接

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

ROS2 humble desktop full

5)配置moveit2

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.

piper_isaac_sim repository

piper_isaac_sim repository

piper_isaac_sim repository

piper_isaac_sim repository

piper_isaac_sim repository

piper_isaac_sim repository

piper_isaac_sim repository

piper_isaac_sim repository

piper_isaac_sim repository

piper_isaac_sim repository

piper_isaac_sim repository

piper_isaac_sim repository

piper_isaac_sim repository

piper_isaac_sim repository

piper_isaac_sim repository