AprilTag + Obstacle Avoidance

Combines AprilTag-driven pick-and-place with Nvblox obstacle avoidance: Isaac cuMotion plans collision-free motion against a live Nvblox reconstruction while Isaac ROS AprilTag locates the target. See Example Applications for the shared manipulator setup. All commands run through mros.

Simulation

1. Open the Isaac Sim scene: ~/workspaces/movensys-simulation/<MANIPULATOR_MODEL>/6a_apriltag_obstacle_avoidance_simulation.usd

2. Run the simulator bridge:

   mros ros2 launch movensys_manipulator_moveit_config sim_bridge.launch.py use_sim_time:=true
   

3. Launch cuMotion + Nvblox:

   mros ros2 launch movensys_manipulator_isaac_ros_config isaac_cumotion_nvblox.launch.py use_sim_time:=true
   

4. Launch Isaac AprilTag:

   mros ros2 launch movensys_manipulator_isaac_ros_config isaac_apriltag.launch.py use_sim_time:=true
   

5. Run AprilTag pick-and-place with obstacle avoidance:

   mros ros2 launch movensys_manipulator_moveit_config apriltag_pick_and_place.launch.py \
        use_sim_time:=true target_spawn:=false
   

HIL

1. Open the Isaac Sim scene: ~/workspaces/movensys-simulation/<MANIPULATOR_MODEL>/6b_apriltag_obstacle_avoidance_hil.usd

2. Start WMX R2 for the manipulator (real WMX runtime) with use_sim_time:=true (see ~/workspaces/movensys_ws/src/wmx-r2/doc/launch_<MANIPULATOR_MODEL>_manipulator.md).

3. Launch cuMotion + Nvblox:

   mros ros2 launch movensys_manipulator_isaac_ros_config isaac_cumotion_nvblox.launch.py use_sim_time:=true
   

   Add rsp:=false if using Gazebo or ros2_control – both already publish /robot_description.

4. Launch Isaac AprilTag:

   mros ros2 launch movensys_manipulator_isaac_ros_config isaac_apriltag.launch.py use_sim_time:=true
   

5. Run AprilTag pick-and-place with obstacle avoidance:

   mros ros2 launch movensys_manipulator_moveit_config apriltag_pick_and_place.launch.py \
        use_sim_time:=true target_spawn:=false
   

Real

1. Open the Isaac Sim scene: ~/workspaces/movensys-simulation/<MANIPULATOR_MODEL>/6c_apriltag_obstacle_avoidance_real.usd

2. Start WMX R2 for the manipulator on the robot (see ~/workspaces/movensys_ws/src/wmx-r2/doc/launch_<MANIPULATOR_MODEL>_manipulator.md).

3. Launch cuMotion + Nvblox:

   mros ros2 launch movensys_manipulator_isaac_ros_config isaac_cumotion_nvblox.launch.py
   

   Add rsp:=false if using Gazebo or ros2_control – both already publish /robot_description.

4. Launch Isaac AprilTag:

   mros ros2 launch movensys_manipulator_isaac_ros_config isaac_apriltag.launch.py
   

5. Run AprilTag pick-and-place with obstacle avoidance:

   mros ros2 launch movensys_manipulator_moveit_config apriltag_pick_and_place.launch.py \
        use_sim_time:=false target_spawn:=true