ALOHA_ROS2

Usage of Mirror Action

1. source {path to interbotix workspace}/install/setup.bash
2. Go to aloha_ros2/scripts directory
3. Run two scripts (start_vx_left.sh and start_wx_left.sh) in seperate terminal to start the master and puppet robot arms
4. Run python3 -m aloha_ros2.main
5. Wait for a while you may see two arms rise to a ready pose at the same time.
6. Hold the master arm (WidowX 250s) and press the gripper a little bit to start the mirror action.

Description

This is a package transplanting ALOHA to ROS2 and it's under development.

To-Do List

• Single side tele-operation
• Two sides tele-operation
• What else?