ALOHA机械臂入门教程-软件安装

文章说明

• 本教程主要介绍如何在安装aloha的配套软件
• 测试环境： Ubuntu 20.04 + ROS Noetic

安装步骤

• 安装Ubuntu 20.04系统 | 安装教程

• 安装rcm 工具

$ rm online_shell.sh ; wget https://gitee.com/ncnynl/commands/raw/master/online_shell.sh ; sudo chmod +x ./online_shell.sh; ./online_shell.sh

• 安装ROS Noetic

$ rcm ros1 install_ros1_noetic

• 安装配套的Interbotix X-Series代码

$ sudo apt install curl
$ curl 'https://raw.githubusercontent.com/Interbotix/interbotix_ros_manipulators/main/interbotix_ros_xsarms/install/amd64/xsarm_amd64_install.sh' > xsarm_amd64_install.sh
$ chmod +x xsarm_amd64_install.sh
$ ./xsarm_amd64_install.sh -d noetic -n

Interbotix X-Series中的代码需要进行修改，修改完成再进行编译

$ vim ~/interbotix_ws/src/interbotix_ros_toolboxes/interbotix_xs_toolbox/interbotix_xs_modules/src/interbotix_xs_modules/arm.py
# 找到函数publish_positions，修改对应语句self.T_sb = mr.FKinSpace(self.robot_des.M, self.robot_des.Slist, self.joint_commands) 为 self.T_sb = None

$ cd ~/interbotix_ws/ && catkin_make

• 安装aloha代码

$ mkdir -p ~/ros1_aloha_ws/src
$ cd ~/ros1_aloha_ws/src/
$ git clone https://github.com/tonyzhaozh/aloha
$ git clone https://github.com/tonyzhaozh/act
$ cd ~/ros1_aloha_ws && catkin_make

• 安装anconda管理工具
  • anconda下载地址：anaconda.com/download/success
• 安装完成后安装对应的依赖

$ conda create -n aloha python=3.8.10
$ conda activate aloha

$ pip install torchvision \
torch \
pyquaternion \
pyyaml \
rospkg \
pexpect \
mujoco==2.3.7 \
dm_control==1.0.14 \
opencv-python \
matplotlib \
einops \
packaging \
h5py \
modern-robotics \
netifaces \
ipython \
yaml \
rospkg \
numpy \

$ cd ~/ros1_aloha_ws/src/act/detr && pip install -e .