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aic_bringup

Overview

aic_bringup provides launch files and configuration for setting up the AI for Industry Challenge simulation environment. This package is part of the evaluation component and is your entry point for starting the evaluation environment, spawning robots and task boards, and running trials.

What This Package Does:

  • Launches Gazebo simulation with the UR5e robot
  • Spawns configurable task boards with various connector mounts
  • Starts the AIC controller for robot control
  • Optionally starts aic_engine for automated trial orchestration
  • Configures ROS-Gazebo bridge for sensor/actuator communication

Quick Start

Basic Simulation (No Task Board)

source ~/ws_aic/install/setup.bash
export RMW_IMPLEMENTATION=rmw_zenoh_cpp
export ZENOH_CONFIG_OVERRIDE='transport/shared_memory/enabled=true;transport/shared_memory/transport_optimization/pool_size=536870912'

ros2 launch aic_bringup aic_gz_bringup.launch.py

This launches:

  • Gazebo simulation
  • UR5e robot with 3 wrist cameras
  • AIC controller (impedance control mode)
  • ROS-Gazebo bridge

Complete Qualification Environment

For running actual qualification trials:

ros2 launch aic_bringup aic_gz_bringup.launch.py \
  ground_truth:=false \
  start_aic_engine:=true

This adds:

  • AIC engine for trial orchestration
  • Evaluation scoring system
  • Hides ground truth data (as in real evaluation)

Development Mode with Ground Truth

When developing your policy, enable ground truth for easier debugging:

ros2 launch aic_bringup aic_gz_bringup.launch.py \
  ground_truth:=true \
  spawn_task_board:=true

This provides:

  • Ground truth TF frames for task board elements
  • Visual debugging in Gazebo
  • Easier policy development

Launch Files

1. aic_gz_bringup.launch.py

Primary launch file for the complete AIC simulation environment.

Note

Although the task board and all components will have fixed roll and pitch during evaluation (all 0.0) and the SC port yaw will be fixed to 0.0, participants may choose to configure any orientation for the sake of domain randomization for policy training.

Usage

ros2 launch aic_bringup aic_gz_bringup.launch.py [parameters]

Configurable Parameters

Robot Spawn Position:

  • robot_x (default: "-0.2") - Robot spawn X position (meters)
  • robot_y (default: "0.2") - Robot spawn Y position (meters)
  • robot_z (default: "1.14") - Robot spawn Z position (meters)
  • robot_roll (default: "0.0") - Robot spawn roll orientation (radians)
  • robot_pitch (default: "0.0") - Robot spawn pitch orientation (radians)
  • robot_yaw (default: "-3.141") - Robot spawn yaw orientation (radians)

Controller Configuration:

  • controllers_file (default: "ur_controllers.yaml") - YAML file with controller configuration
  • activate_joint_controller (default: "true") - Activate joint controller on startup
  • initial_joint_controller (default: "aic_controller") - Initial controller to activate
  • description_file (default: "ur.urdf.xacro") - Robot description file

Task Board Configuration:

  • spawn_task_board (default: "false") - Whether to spawn the task board
  • task_board_description_file (default: "task_board.urdf.xacro") - Task board URDF/XACRO file
  • task_board_x (default: "0.15") - Task board spawn X position (meters)
  • task_board_y (default: "-0.2") - Task board spawn Y position (meters)
  • task_board_z (default: "1.14") - Task board spawn Z position (meters)
  • task_board_roll (default: "0.0") - Task board spawn roll orientation (radians)
  • task_board_pitch (default: "0.0") - Task board spawn pitch orientation (radians)
  • task_board_yaw (default: "0.0") - Task board spawn yaw orientation (radians)

Cable Configuration:

  • spawn_cable (default: "false") - Whether to spawn the cable
  • cable_description_file (default: "cable.sdf.xacro") - Cable SDF/XACRO file
  • attach_cable_to_gripper (default: "false") - Whether to attach cable to gripper
  • cable_type (default: "sfp_sc_cable") - Type of cable to spawn. Options: [sfp_sc_cable, sfp_sc_cable_reversed]
  • cable_x (default: "0.172") - Cable spawn X position (meters)
  • cable_y (default: "0.024") - Cable spawn Y position (meters)
  • cable_z (default: "1.518") - Cable spawn Z position (meters)
    • Note: set cable_z to 1.508 if cable_type is sfp_sc_cable_reversed
  • cable_roll (default: "0.4432") - Cable spawn roll orientation (radians)
  • cable_pitch (default: "-0.48") - Cable spawn pitch orientation (radians)
  • cable_yaw (default: "1.3303") - Cable spawn yaw orientation (radians)

Gazebo Configuration:

  • world_file (default: "aic.sdf") - Gazebo world file
  • gazebo_gui (default: "true") - Launch Gazebo GUI
  • ros_gz_bridge_config_file (default: "ros_gz_bridge.yaml") - ROS-Gazebo bridge configuration

Visualization:

  • launch_rviz (default: "false") - Launch RViz for visualization
  • rviz_config_file (default: "view_robot.rviz") - RViz configuration file

Ground Truth:

  • ground_truth (default: "false") - Include ground truth pose data in TF topics

AIC Engine:

  • start_aic_engine (default: "false") - Start the aic_engine orchestrator node for evaluation.
  • shutdown_on_aic_engine_exit (default: "false") - Shutdown the entire launch file when aic_engine exits, propagating its exit code. Only takes effect when start_aic_engine is true. Useful for automated evaluation where the container should exit after trial completion.
  • aic_engine_config_file (default: "aic_engine/config/sample_config.yaml") - Absolute path to YAML file with the AIC engine configuration.

2. spawn_task_board.launch.py

Standalone launch file for spawning the task board in an existing Gazebo simulation.

Note

Although the task board and all components will have fixed roll and pitch during evaluation (all 0.0) and the SC port yaw will be fixed to 0.0, participants may choose to configure any orientation for the sake of domain randomization for policy training.

Usage

ros2 launch aic_bringup spawn_task_board.launch.py

Configurable Parameters

Task Board Base Configuration:

  • task_board_description_file (default: "task_board.urdf.xacro") - Task board URDF/XACRO description file
  • task_board_x (default: "0.25") - Task board spawn X position (meters)
  • task_board_y (default: "0.0") - Task board spawn Y position (meters)
  • task_board_z (default: "1.14") - Task board spawn Z position (meters)
  • task_board_roll (default: "0.0") - Task board spawn roll orientation (radians)
  • task_board_pitch (default: "0.0") - Task board spawn pitch orientation (radians)
  • task_board_yaw (default: "0.0") - Task board spawn yaw orientation (radians)

Mount Rails (LC/SFP/SC):

The task board has 6 mount rails for LC, SFP, and SC connector mounts. Each rail has configurable presence, translation along the rail, and orientation.

LC Mount Rail 0 (left side):

  • lc_mount_rail_0_present (default: "false") - Whether LC mount is present on rail 0
  • lc_mount_rail_0_translation (default: "0.0") - Translation along rail (meters, range: -0.09625 to 0.09625)
  • lc_mount_rail_0_roll (default: "0.0") - Roll orientation (radians)
  • lc_mount_rail_0_pitch (default: "0.0") - Pitch orientation (radians)
  • lc_mount_rail_0_yaw (default: "0.0") - Yaw orientation (radians)

SFP Mount Rail 0 (left side):

  • sfp_mount_rail_0_present (default: "false") - Whether SFP mount is present on rail 0
  • sfp_mount_rail_0_translation (default: "0.0") - Translation along rail (meters, range: -0.09625 to 0.09625)
  • sfp_mount_rail_0_roll (default: "0.0") - Roll orientation (radians)
  • sfp_mount_rail_0_pitch (default: "0.0") - Pitch orientation (radians)
  • sfp_mount_rail_0_yaw (default: "0.0") - Yaw orientation (radians)

SC Mount Rail 0 (left side):

  • sc_mount_rail_0_present (default: "false") - Whether SC mount is present on rail 0
  • sc_mount_rail_0_translation (default: "0.0") - Translation along rail (meters, range: -0.09625 to 0.09625)
  • sc_mount_rail_0_roll (default: "0.0") - Roll orientation (radians)
  • sc_mount_rail_0_pitch (default: "0.0") - Pitch orientation (radians)
  • sc_mount_rail_0_yaw (default: "0.0") - Yaw orientation (radians)

LC Mount Rail 1 (right side):

  • lc_mount_rail_1_present (default: "false") - Whether LC mount is present on rail 1
  • lc_mount_rail_1_translation (default: "0.0") - Translation along rail (meters, range: -0.09625 to 0.09625)
  • lc_mount_rail_1_roll (default: "0.0") - Roll orientation (radians)
  • lc_mount_rail_1_pitch (default: "0.0") - Pitch orientation (radians)
  • lc_mount_rail_1_yaw (default: "0.0") - Yaw orientation (radians)

SFP Mount Rail 1 (right side):

  • sfp_mount_rail_1_present (default: "false") - Whether SFP mount is present on rail 1
  • sfp_mount_rail_1_translation (default: "0.0") - Translation along rail (meters, range: -0.09625 to 0.09625)
  • sfp_mount_rail_1_roll (default: "0.0") - Roll orientation (radians)
  • sfp_mount_rail_1_pitch (default: "0.0") - Pitch orientation (radians)
  • sfp_mount_rail_1_yaw (default: "0.0") - Yaw orientation (radians)

SC Mount Rail 1 (right side):

  • sc_mount_rail_1_present (default: "false") - Whether SC mount is present on rail 1
  • sc_mount_rail_1_translation (default: "0.0") - Translation along rail (meters, range: -0.09625 to 0.09625)
  • sc_mount_rail_1_roll (default: "0.0") - Roll orientation (radians)
  • sc_mount_rail_1_pitch (default: "0.0") - Pitch orientation (radians)
  • sc_mount_rail_1_yaw (default: "0.0") - Yaw orientation (radians)

SC Port Rails:

Two SC port rails for attaching SC port modules.

SC Port 0:

  • sc_port_0_present (default: "false") - Whether SC port is present on rail 0
  • sc_port_0_translation (default: "0.0") - Translation along rail (meters)
  • sc_port_0_roll (default: "0.0") - Roll orientation (radians)
  • sc_port_0_pitch (default: "0.0") - Pitch orientation (radians)
  • sc_port_0_yaw (default: "0.0") - Yaw orientation (radians)

SC Port 1:

  • sc_port_1_present (default: "false") - Whether SC port is present on rail 1
  • sc_port_1_translation (default: "0.0") - Translation along rail (meters)
  • sc_port_1_roll (default: "0.0") - Roll orientation (radians)
  • sc_port_1_pitch (default: "0.0") - Pitch orientation (radians)
  • sc_port_1_yaw (default: "0.0") - Yaw orientation (radians)

NIC Card Mount Rails:

Five NIC card mount rails for attaching network interface cards.

NIC Card Mount 0-4: (Parameters repeat for each mount: 0, 1, 2, 3, 4)

  • nic_card_mount_N_present (default: "false") - Whether NIC card mount N is present
  • nic_card_mount_N_translation (default: "0.0") - Translation along rail (meters)
  • nic_card_mount_N_roll (default: "0.0") - Roll orientation (radians)
  • nic_card_mount_N_pitch (default: "0.0") - Pitch orientation (radians)
  • nic_card_mount_N_yaw (default: "0.0") - Yaw orientation (radians)

3. spawn_cable.launch.py

Standalone launch file for spawning a cable in an existing Gazebo simulation.

Usage

ros2 launch aic_bringup spawn_cable.launch.py

Configurable Parameters

  • cable_description_file (default: "cable.sdf.xacro") - Cable URDF/XACRO description file
  • cable_x (default: "-0.35") - Cable spawn X position (meters)
  • cable_y (default: "0.4") - Cable spawn Y position (meters)
  • cable_z (default: "1.15") - Cable spawn Z position (meters)
  • cable_roll (default: "0.0") - Cable spawn roll orientation (radians)
  • cable_pitch (default: "0.0") - Cable spawn pitch orientation (radians)
  • cable_yaw (default: "0.0") - Cable spawn yaw orientation (radians)
  • attach_cable_to_gripper (default: "false") - Whether to attach cable to gripper

Example Usage

Basic Simulation Launch

Start the complete simulation with default parameters:

ros2 launch aic_bringup aic_gz_bringup.launch.py

Launch with Custom Robot Position

ros2 launch aic_bringup aic_gz_bringup.launch.py robot_x:=1.0 robot_y:=0.5

Launch with Task Board and Cable

ros2 launch aic_bringup aic_gz_bringup.launch.py spawn_task_board:=true spawn_cable:=true

Spawn Task Board with LC Mount on Rail 0

ros2 launch aic_bringup spawn_task_board.launch.py \
  lc_mount_rail_0_present:=true \
  lc_mount_rail_0_translation:=0.05

Launching with the Impedance Controller

Start the Simulation with the AIC Controller

ros2 launch aic_bringup aic_gz_bringup.launch.py

Start a script to send both joint (JointMotionUpdate) and Cartesian targets (MotionUpdate).

This script also calls the ChangeTargetMode service to change the target mode between Joint and Cartesian, in between sending the targets.

ros2 run aic_bringup test_impedance.py

Notes

  • All position values are in meters
  • All orientation values are in radians
  • Translation ranges for mount rails are limited to prevent collisions: -0.09625 to 0.09625 meters
  • Mount rails are type-specific: LC, SFP, and SC mounts can only be attached to their respective rails
  • Port rails (sc_port and nic_card_mount) are separate from mount rails