Skip to content

Migrate to ROS2 and Add dual-arm manipulation for ALOHA #117

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom
Open
wants to merge 42 commits into
base: main
Choose a base branch
from
Open

Migrate to ROS2 and Add dual-arm manipulation for ALOHA #117

wants to merge 42 commits into from

Conversation

@AnnikaWU
Copy link

@AnnikaWU AnnikaWU commented Nov 19, 2025 •
edited
Loading

Main Commits:

  1. Migrate mobile manipulation related packages from ros1 to ros2 humble.
  2. Add support for dual-arm manipulation which suscirbes topics from imitation model named Action Chunking Transformer and publishes to mujoco simulation.

jzhao6x and others added 30 commits April 16, 2025 17:38
@jzhao6x
modify description name (leggedrobotics#1)
b901ed4
@jzhao6x
modify for ocs2 (leggedrobotics#2)
71e2381 
* modify description name

* add scripts to control robot
@jzhao6x
update for benchmarking (leggedrobotics#3)
e5f9e55 
* modify description name

* add scripts to control robot

* update for benchmarking
@RoboticsYY
Fix compile error (leggedrobotics#4)
121b215
@RoboticsYY @jzhao6x
Disable non necessary build (leggedrobotics#5)
ed57c39 
* Disable non necessary build

* ::Remove gnome debug from mobile manipulator launch file

---------

Co-authored-by: Zhao, JieX <jiex.zhao@intel.com>
@RoboticsYY
:Fix CI build (leggedrobotics#6)
8030a27
@RoboticsYY
Remove redundant steps for CI build (leggedrobotics#8)
9a8f7e7
@jzhao6x
update for ocs2 build only test (leggedrobotics#7)
ce066e1
@RoboticsYY
Add default reviewers (leggedrobotics#9)
2f174ae 
* Add default reviewers
@RoboticsYY
Trigger CI on ros2 branch (leggedrobotics#10)
5a1d92c
@jzhao6x @RoboticsYY
CI: update build flow for ros2 (leggedrobotics#11)
3de6715 
* update build flow for ros2

* Add default reviewers (leggedrobotics#9)

* Add default reviewers

* Trigger CI on ros2 branch (leggedrobotics#10)

* rosdep update with rosdistro

* clear dir before build

* add check to remove some directories

---------

Co-authored-by: Yu, Yan <yu.yan@intel.com>
@jzhao6x
CI: remove ocs2_robotic_assets as git submodule (leggedrobotics#16)
e35395c 
* remove ocs2_robotic_assets

* change git action
@xzhan34
ocs2_thirdparty: porting for ros2 humble. (leggedrobotics#12)
ce1e8f6 
updated ocs2_thirdparty to ros2 humble as the part of the ocs2 porting effort.

Signed-off-by: Zhang, Xiaolin <xiaolin.zhang@intel.com>
@xzhan34
enable ocs2_thirdparty in the build system. (leggedrobotics#23)
81509b1 
delete the ignore file which is used for skipping build in the CI.

---------

Signed-off-by: Zhang, Xiaolin <xiaolin.zhang@intel.com>
@sunausti
ocs2_msgs: porting to ros2 humble (leggedrobotics#21)
bf24dad 
* ocs2_msgs: porting to ros2 humble
rename msgs files and msg name to follow

https://design.ros2.org/articles/interface_definition.html

Signed-off-by: Austin Sun <austin.sun@intel.com>
@jzhao6x
CI: Optimize CI running time (leggedrobotics#19)
b20b6a7 
* update docker image

* add dockerfile

* update

* update dockerfile

* update docker image

* update

* add code owner
@sunausti
Update Code Owner ocs2_msgs and tools (leggedrobotics#24)
611a6e2 
Signed-off-by: Austin Sun <austin.sun@intel.com>
@jzhao6x
CI: update docker registry (leggedrobotics#26)
cbe285a 
* update docker registry

* update dns
@xzhan34
ocs2_core: porting for ros2 humble. (leggedrobotics#14)
2bd3847 
updated this repo to ros2 hubmle as the part of the ocs2 porting effort.

Signed-off-by: Zhang, Xiaolin <xiaolin.zhang@intel.com>
@jzhao6x
CI: add ocs2_robotic_assets (leggedrobotics#27)
ecb890d 
* add ocs2_robotic_assets

* update

* update checkout

* update

* update
@xzhan34
ocs2_oc: porting for ros2 humble. (leggedrobotics#28)
86b83b5 
updated this repo to ros2 hubmle as the part of the ocs2 porting effort.

Signed-off-by: Zhang, Xiaolin <xiaolin.zhang@intel.com>
@RoboticsYY
Fix ocs2_core compile warnings (leggedrobotics#31)
3606263
@sunausti
ocs2_robotic_tools: porting to ros2 humble (leggedrobotics#25)
32b7c90 
* ocs2_robotic_tools: porting to ros2 humble

---------

Signed-off-by: Austin Sun <austin.sun@intel.com>
@RoboticsYY
Clean up (leggedrobotics#33)
400b567 
* Clean up the workflow file

* Clean up missing changes
@baihe-liu
ocs2_mpc porting for ros2 humble (leggedrobotics#29)
6f2f33c 
* port ocs2_mpc

* remove lint target
@jzhao6x
CI: add MujocoRosUtils (leggedrobotics#38)
13b3523 
* add MujocoRosUtils
@jzhao6x
fix issue leggedrobotics#41 (leggedrobotics#42)
8956d8f 
* fix issue 41

* update
@RoboticsYY
Fix ocs2_core cmake module export (leggedrobotics#43)
d5f85ae
@Nisyhaal
ocs2_qp_solver: porting to ros2 humble (leggedrobotics#36)
18b5919 
* Revise cmake and package

* Update CMakeLists.txt

* Update package.xml
@sunausti
ocs2_pinocchio_interface: porting to ros2 humble (leggedrobotics#40)
1c8b5ab 
* ocs2_pinocchio_interface: porting to ros2 humble

Signed-off-by: Austin Sun <austin.sun@intel.com>
sunausti and others added 12 commits August 29, 2025 16:31
@sunausti
ocs2_ddp: porting to ros2 humble (leggedrobotics#32)
910b445 
* ocs2_ddp: porting to ros2 humble

Signed-off-by: Austin Sun <austin.sun@intel.com>
@xzhan34
ocs2_ros_interfaces: porting for ros2 humble. (leggedrobotics#37)
c4c0542 
rebased this repo to ros2 hubmle as the part of the ocs2 porting effort.

Signed-off-by: Zhang, Xiaolin <xiaolin.zhang@intel.com>
@RoboticsYY
Fix compiling warnings found in CI (leggedrobotics#47)
ce672ac
@sunausti
ocs2_self_collision: porting to ros2 humble (leggedrobotics#45)
239c3dd 
* ocs2_self_collision: porting to ros2 humble

---------

Signed-off-by: Austin Sun <austin.sun@intel.com>
@RoboticsYY
Fix hpp-fcl export from ocs2_self_collision (leggedrobotics#50)
54d648b
@baihe-liu
ocs2_mobile_manipulator: porting to ros2 humble (leggedrobotics#49)
1b49304 
* porting ocs2_mobile_manipulator
@Nisyhaal
ocs2_self_collision_visualization: porting to ros2 humble (leggedrobo…
08c3c1b 
…tics#46)

* feat: Modify CMakeList.txt

* feat: Modify package.xml

* feat: Modify source and header files

* fix: Remove COLCON_IGNORE

* Update ocs2_pinocchio/ocs2_self_collision_visualization/include/ocs2_self_collision_visualization/GeometryInterfaceVisualization.h

* Update ocs2_pinocchio/ocs2_self_collision_visualization/CMakeLists.txt

* fix: Add URDF
@sunausti
ocs2_mobile_manipulator_ros: porting to ros2 humble (leggedrobotics#51)
5d8d723 
* ocs2_mobile_manipulator_ros: porting to ros2 humble

Signed-off-by: Austin Sun <austin.sun@intel.com>
@RoboticsYY
Fix Franka example launch (leggedrobotics#52)
ea36d10
@jzhao6x @RoboticsYY
fix missing pkg for ocs2 examples running (leggedrobotics#53)
cc1339a 
Co-authored-by: RoboticsYY <yu.yan@intel.com>
@RoboticsYY
Fix mobile manipulator example issues (leggedrobotics#54)
0849cb4 
* Enable kinova and pr2 example runable

* Fix visualization issue for removed joints
@AnnikaWU
Modify for dual-arm ACT+OCS2+MUJOCO in simulation (leggedrobotics#57)
a53c812 
* add single-arm aloha in mujoco simualtion

* add dual-arm launch file and modify for dual-arm in mujoco simualtion

* modify for general mpc and mrt node

* modify for better compatibility

* remove unnecessary modification and ros1 launch file for aloha

* Update manipulator_aloha_dual_arm.launch.py
@AnnikaWU AnnikaWU changed the title Modi Migrate to ROS2 and Add dual-arm manipulation for ALOHA Nov 19, 2025
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Reviewers

No reviews

Assignees

No one assigned

Labels

None yet

Projects

None yet

Milestone

No milestone

Development

Successfully merging this pull request may close these issues.

7 participants

@AnnikaWU @jzhao6x @RoboticsYY @xzhan34 @sunausti @baihe-liu @Nisyhaal