Package for TeleSim, a modular and plug and play teleoperation system, that can be used with any kind of robotic arms.
Make sure you have cloned the relevant repositories from the master repo or only the relevant part for Baxter or UR3.
Beware if you do not download the master repo, you will only be able to use the relevant robots from this repo.
Build the workspace which will be referred henceforth as ros_ws using colcon build
Additionally install Isaac Sim 2022.2.0, newer version may work but have not been tested.
BEWARE: Do not source ROS or have ROS sourced for the following !
Find your isaac sim python path; It should be in ~/.local/share/ov/pkg/isaac_sim-2022.2.0/python.sh. It will be referred henceforth as isp
Then you need to export the path of the packages you are going to use so that Isaac Sim can load them.
export ROS_PACKAGE_PATH=ROS_PACKAGE_PATH:/opt/ros/galactic/share
Note: This will only load the packages installed through APT not the local packages. You need to add them manually (See below for example)
Make sure you also have installed pyquaternion for Isaac Sim. This can be done by running:
isp -m pip install pyquaternion
Make sure you have updated the urdf and rmp path according to your need in either ur_t42_world.py or baxter_world.py file. They are defined in the init as self.urdf and self.rmp respectively
To add the packages needed for Baxter:
export ROS_PACKAGE_PATH=ROS_PACKAGE_PATH:{ros_ws}/install/rethink_ee_description/share:{ros_ws}/install/baxter_description/share
To run for baxter
isp baxter/baxter_world.py
To add the packages needed for UR3 with the T42 gripper:
export ROS_PACKAGE_PATH=ROS_PACKAGE_PATH:{ros_ws}/install/t42_gripper_description/share
To run for the UR3
isp ur/ur_t42_world.py
Create a new folder with the robot name
Create a copy of one of the {robot}_world.py and of the {robot}_robot.py file.
Makes changes in the {robot}_robot.py, such as the gripper joint name (for more than 2 gripper joint use grippers.py as base) in the Cortex class. Make sure to update the files about the robot configuration.
To add a new type of controller, Make sure to update if need the listening path in your {robot}_world.py.
Additionally in the function move_right_cube_callback make sure to update the quaternion multiplication so that it will match the resting pose of the controller.
Note: If you are using HTC vive Tracker the Index of the tracker may change with each restart. This is due to a change of SteamVR and has not been corrected yet