Nvblox Obstacle Avoidance#

Collision-aware planning with Isaac cuMotion against a live Nvblox depth reconstruction. 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>/5a_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. Run obstacle avoidance:

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

  5. (optional) Tune the Nvblox camera transform:

    mros ros2 launch movensys_manipulator_perception camera_transform_tuning.launch.py use_sim_time:=true \
     parent_frame:=world_manipulator child_frame:=camera_nvblox_color_optical_frame

HIL#

  1. Open the Isaac Sim scene: ~/workspaces/movensys-simulation/<MANIPULATOR_MODEL>/5b_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. Run obstacle avoidance:

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

  5. (optional) Tune the Nvblox camera transform (same command as Simulation step 5).

Real#

  1. Open the Isaac Sim scene: ~/workspaces/movensys-simulation/<MANIPULATOR_MODEL>/5c_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. Run obstacle avoidance:

    mros ros2 launch movensys_manipulator_moveit_config obstacle_avoidance.launch.py

  5. (optional) Tune the Nvblox camera transform (note the real-hardware frame):

    mros ros2 launch movensys_manipulator_perception camera_transform_tuning.launch.py \
     parent_frame:=world_manipulator child_frame:=camera_nvblox_link
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