Space_MPPI

This repository provides an implementation of satellite robot control using Model Predictive Path Integral (MPPI)

Usage

use it after modifying the path in the the src/space_robots_gz/run.sh file

1. shortcuts in docker terminal

rlcanadarm  = ros2 launch canadarm canadarm.launch.py
rlfranka    = ros2 launch franka franka.launch.py
rlfloating  = ros2 launch canadarm floating_canadarm_camera.launch.py

2. Register shortcuts in local

echo "alias rldocker='cd $SPACE_WS/src/space_robots_gz && ./build.sh && ./run.sh'" >> ~/.bashrc
echo "alias execdocker='cd $SPACE_WS/src/space_robots_gz && ./exec.sh'" >> ~/.bashrc
echo "alias stopdocker='docker stop openrobotics_space_robots_demo'" >> ~/.bashrc

Installation

Install Docker:
https://docs.docker.com/engine/install/ubuntu/

Install Earthly:
https://earthly.dev/get-earthly

cd ~/space_ws/src/space_robots_gz/moveit2
./build.sh

cd ~/space_ws/src/space_robots_gz/space_robots
./build.sh

run the following to allow GUI passthrough:

xhost +local:docker

Install the nvidia Toolkit

curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \
  && curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \
    sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
    sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list \
  && \
    sudo apt-get update

Validate the nvidia Toolkit installation

sudo docker run --rm --runtime=nvidia --gpus all ubuntu nvidia-smi