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

AnnikaWU · 2025-11-19T03:14:07Z

Main Commits:

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

* modify description name * add scripts to control robot

* modify description name * add scripts to control robot * update for benchmarking

* Disable non necessary build * ::Remove gnome debug from mobile manipulator launch file --------- Co-authored-by: Zhao, JieX <jiex.zhao@intel.com>

* Add default reviewers

* 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>

* remove ocs2_robotic_assets * change git action

updated ocs2_thirdparty to ros2 humble as the part of the ocs2 porting effort. Signed-off-by: Zhang, Xiaolin <xiaolin.zhang@intel.com>

delete the ignore file which is used for skipping build in the CI. --------- Signed-off-by: Zhang, Xiaolin <xiaolin.zhang@intel.com>

* 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>

* update docker image * add dockerfile * update * update dockerfile * update docker image * update * add code owner

Signed-off-by: Austin Sun <austin.sun@intel.com>

* update docker registry * update dns

updated this repo to ros2 hubmle as the part of the ocs2 porting effort. Signed-off-by: Zhang, Xiaolin <xiaolin.zhang@intel.com>

* add ocs2_robotic_assets * update * update checkout * update * update

updated this repo to ros2 hubmle as the part of the ocs2 porting effort. Signed-off-by: Zhang, Xiaolin <xiaolin.zhang@intel.com>

* ocs2_robotic_tools: porting to ros2 humble --------- Signed-off-by: Austin Sun <austin.sun@intel.com>

* Clean up the workflow file * Clean up missing changes

* port ocs2_mpc * remove lint target

* add MujocoRosUtils

* fix issue 41 * update

* Revise cmake and package * Update CMakeLists.txt * Update package.xml

* ocs2_pinocchio_interface: porting to ros2 humble Signed-off-by: Austin Sun <austin.sun@intel.com>

* ocs2_ddp: porting to ros2 humble Signed-off-by: Austin Sun <austin.sun@intel.com>

rebased this repo to ros2 hubmle as the part of the ocs2 porting effort. Signed-off-by: Zhang, Xiaolin <xiaolin.zhang@intel.com>

* ocs2_self_collision: porting to ros2 humble --------- Signed-off-by: Austin Sun <austin.sun@intel.com>

* porting ocs2_mobile_manipulator

…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

* ocs2_mobile_manipulator_ros: porting to ros2 humble Signed-off-by: Austin Sun <austin.sun@intel.com>

Co-authored-by: RoboticsYY <yu.yan@intel.com>

* Enable kinova and pr2 example runable * Fix visualization issue for removed joints

* 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 · 2025-12-22T03:45:17Z

Hi @Idate96,
I am an Intel engineer, and I wanted to share some developments we've been working on for ROS2 migration.

In this PR, we've migrated the mobile-manipulator-related packages to ROS2 Humble running on Ubuntu 22.04. This migration has been integrated into Intel open-source robotics AI suite, where we've created a comprehensive dual-arm manipulation pipeline that bridges OCS2 with ACT (Action Chunking with Transformers) AI models and MuJoCo simulation environments. You can find our work here: https://github.com/open-edge-platform/edge-ai-suites/tree/main/robotics-ai-suite/pipelines/mpc-demo

We noticed that you've been working on a ROS2 Jazzy branch, which shows great alignment with the community's move toward ROS2. Given your expertise and deep understanding of the OCS2 framework, we would greatly value your insights and feedback on our ROS2 Humble implementation.
Would you be interested in reviewing our pull request for the ROS2 Humble migration? Your suggestions and thoughts would be invaluable in ensuring we've maintained the integrity and performance of the original design while properly adapting it to the ROS2 ecosystem. We're particularly interested in your perspective on how we've handled the integration with AI models and simulation environments.
Looking forward to your thoughts and potential collaboration!

jzhao6x and others added 30 commits April 16, 2025 17:38

modify description name (leggedrobotics#1)

b901ed4

modify for ocs2 (leggedrobotics#2)

71e2381

* modify description name * add scripts to control robot

update for benchmarking (leggedrobotics#3)

e5f9e55

* modify description name * add scripts to control robot * update for benchmarking

Fix compile error (leggedrobotics#4)

121b215

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>

:Fix CI build (leggedrobotics#6)

8030a27

Remove redundant steps for CI build (leggedrobotics#8)

9a8f7e7

update for ocs2 build only test (leggedrobotics#7)

ce066e1

Add default reviewers (leggedrobotics#9)

2f174ae

* Add default reviewers

Trigger CI on ros2 branch (leggedrobotics#10)

5a1d92c

CI: remove ocs2_robotic_assets as git submodule (leggedrobotics#16)

e35395c

* remove ocs2_robotic_assets * change git action

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>

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>

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>

CI: Optimize CI running time (leggedrobotics#19)

b20b6a7

* update docker image * add dockerfile * update * update dockerfile * update docker image * update * add code owner

Update Code Owner ocs2_msgs and tools (leggedrobotics#24)

611a6e2

Signed-off-by: Austin Sun <austin.sun@intel.com>

CI: update docker registry (leggedrobotics#26)

cbe285a

* update docker registry * update dns

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>

CI: add ocs2_robotic_assets (leggedrobotics#27)

ecb890d

* add ocs2_robotic_assets * update * update checkout * update * update

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>

Fix ocs2_core compile warnings (leggedrobotics#31)

3606263

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>

Clean up (leggedrobotics#33)

400b567

* Clean up the workflow file * Clean up missing changes

ocs2_mpc porting for ros2 humble (leggedrobotics#29)

6f2f33c

* port ocs2_mpc * remove lint target

CI: add MujocoRosUtils (leggedrobotics#38)

13b3523

* add MujocoRosUtils

fix issue leggedrobotics#41 (leggedrobotics#42)

8956d8f

* fix issue 41 * update

Fix ocs2_core cmake module export (leggedrobotics#43)

d5f85ae

ocs2_qp_solver: porting to ros2 humble (leggedrobotics#36)

18b5919

* Revise cmake and package * Update CMakeLists.txt * Update package.xml

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

ocs2_ddp: porting to ros2 humble (leggedrobotics#32)

910b445

* ocs2_ddp: porting to ros2 humble Signed-off-by: Austin Sun <austin.sun@intel.com>

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>

Fix compiling warnings found in CI (leggedrobotics#47)

ce672ac

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>

Fix hpp-fcl export from ocs2_self_collision (leggedrobotics#50)

54d648b

ocs2_mobile_manipulator: porting to ros2 humble (leggedrobotics#49)

1b49304

* porting ocs2_mobile_manipulator

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>

Fix Franka example launch (leggedrobotics#52)

ea36d10

fix missing pkg for ocs2 examples running (leggedrobotics#53)

cc1339a

Co-authored-by: RoboticsYY <yu.yan@intel.com>

Fix mobile manipulator example issues (leggedrobotics#54)

0849cb4

* Enable kinova and pr2 example runable * Fix visualization issue for removed joints

AnnikaWU changed the title ~~Modi~~ Migrate to ROS2 and Add dual-arm manipulation for ALOHA Nov 19, 2025

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