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>/7a_apriltag_obstacle_avoidance_simulation.usd

  2. Run the simulator bridge:

    mros ros2 launch movensys_manipulator_moveit_config sim_bridge.launch.py \
     simulator:=isaacsim 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>/7b_apriltag_obstacle_avoidance_hil.usd

  2. Start WMX ROS2 for the manipulator (real WMX runtime) with 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

Real#

  1. Open the Isaac Sim scene: ~/workspaces/movensys-simulation/<MANIPULATOR_MODEL>/7c_apriltag_obstacle_avoidance_real.usd

  2. Start WMX ROS2 for the manipulator on the robot (no use_sim_time).

  3. Launch cuMotion + Nvblox:

    mros ros2 launch movensys_manipulator_isaac_ros_config isaac_cumotion_nvblox.launch.py

  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
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