This repository contains source files and packages for robotic manipulation using Interbotix arms. The project includes data collection scripts and integrates various Interbotix ROS 2 packages for robotic control and visualization.
The data_collector package provides tools for collecting robotic data, including joint states and point cloud data.
collector_script.py– Captures joint state data from the robot.point_cloud.py– Collects and processes PointCloud2 data for 3D environment mapping.
This repository relies on the following ROS 2 packages:
interbotix_ros_core– Provides core firmware and communication utilities for Interbotix arms.interbotix_ros_manipulators– Implements control and planning tools for robotic manipulators.interbotix_ros_toolboxes– Includes various helper functions and utility scripts for robot operation.moveit_visual_tools– Assists with visualization and debugging in MoveIt!.
Ensure you have ROS 2 installed and sourced. Then, clone this repository and install dependencies:
sudo apt install curl
curl 'https://raw.githubusercontent.com/Interbotix/interbotix_ros_manipulators/main/interbotix_ros_xsarms/install/amd64/xsarm_amd64_install.sh' > xsarm_amd64_install.sh
chmod +x xsarm_amd64_install.sh
./xsarm_amd64_install.sh -d humbleCheck that the Interbotix ROS packages were installed correctly. The command and example output are below:
source /opt/ros/$ROS_DISTRO/setup.bash
source ~/interbotix_ws/install/setup.bash
ros2 pkg list | grep interbotixcd ~/interbotix_ws/src
git clone https://github.com/your_username/manipulation.git
cd ~/interbotix_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build
source install/setup.bashTo launch the data collection scripts:
ros2 run data_collector collector_script.py
ros2 run data_collector point_cloud.pyros2 launch interbotix_xsarm_moveit xsarm_moveit.launch.py robot_model:=rx150 hardware_type:=gz_classicTo render pointCloud2 data one should change the global frame to camera_depth_frame