MBS Aloha

A ros1 package for aloha v2

Operation

• Launch teleop driver

roslaunch aloha 4arms_teleop.launch

• Launch viz

roslaunch aloha_viz view_robot.launch

• Depth cameras, launch sequentially after 5 secs each

roslaunch aloha_realsense_cameras d405_01.launch 
roslaunch aloha_realsense_cameras d405_02.launch 
roslaunch aloha_realsense_cameras d405_03.launch 
roslaunch aloha_realsense_cameras d405_04.launch 

Setup

• Dependencies

./dependencies.sh

• Check dynamixel

Open Dynamixel wizard, go into options and select:

Protocal 2.0
All ports
1000000 bps
ID range from 0-10

• Limit current

Set max current for gripper motors

Open Dynamixel Wizard, and select the wrist motor for puppet arms. The name of it should be [ID:009] XM430-W350
Tip: the LED on the base of robot will flash when it is talking to Dynamixel Wizard. This will help determine which robot is selected.
Find 38 Current Limit, enter 200, then hit save at the bottom.
Repeat this for both puppet robots.
This limits the max current through gripper motors, to prevent overloading errors.

• Update aloha udev

sudo udevadm info --name=/dev/ttyUSB0 --attribute-walk | grep serial
sudo udevadm info --name=/dev/ttyUSB1 --attribute-walk | grep serial
sudo udevadm info --name=/dev/ttyUSB2 --attribute-walk | grep serial
sudo udevadm info --name=/dev/ttyUSB3 --attribute-walk | grep serial

• to obtain the serial number. Use the first one that shows up, the format should look similar to FT6S4DSP.

• For cameras list them via

lsusb

• Get ID_SHORT_SERIAL corresponding to the v4l

lsusb -v -s 002:005

• To apply the changes, run

sudo udevadm control --reload-rules && sudo udevadm trigger