Migrate to ROS2 and Add dual-arm manipulation for ALOHA

.docker/Dockerfile

@@ -0,0 +1,28 @@
+FROM osrf/ros:humble-desktop-full-jammy
+
+RUN apt-get update 
+
+RUN DEBIAN_FRONTEND=noninteractive apt-get install -y \
+    keyboard-configuration --assume-yes
+
+RUN apt-get install -y \
+    libglpk-dev \
+    libmpfr-dev \
+    libglfw3 \
+    libglfw3-dev \
+    libosmesa6 \
+    freeglut3-dev \
+    mesa-common-dev \
+    python3-pip \
+    python3-wstool \
+    wget
+
+RUN apt-get install -y \
+    ros-humble-pinocchio \
+    ros-humble-hpp-fcl \
+    ros-humble-joint-state-publisher
+
+RUN apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
+
+CMD ["bash"]

.docker/build.sh

@@ -0,0 +1,10 @@
+#!/bin/bash
+# please login docker hub before run this script
+
+IMAGE_NAME="ros2_ocs2"
+IMAGE_TAG="latest"
+IMAGE_REGISTRY="ecgfiscbuildserver1.sh.intel.com:5000"
+
+docker build -t ${IMAGE_NAME}:${IMAGE_TAG} .
+docker tag ${IMAGE_NAME}:${IMAGE_TAG} ${IMAGE_REGISTRY}/${IMAGE_NAME}:${IMAGE_TAG}
+docker push ${IMAGE_REGISTRY}/${IMAGE_NAME}:${IMAGE_TAG}

.github/CODEOWNERS

@@ -0,0 +1,23 @@
+# OCS2 Intel-maintained repo default reviewers
+
+# Default Reviewers:
+*                          @RoboticsYY @baihe-liu @AnnikaWU
+
+# OCS2 ROS2 porting code owner
+/.docker                                               @jzhao6x
+/.github                                               @jzhao6x
+/ocs2_thirdpary                                        @xzhan34
+/ocs2_msgs                                             @sunausti
+/ocs2_robotic_tools                                    @sunausti
+/ocs2_core                                             @xzhan34
+/ocs2_oc                                               @xzhan34
+/ocs2_test_tools/ocs2_qp_solver                        @Nisyhaal
+/ocs2_mpc                                              @baihe-liu
+/ocs2_robotic_tools                                    @sunausti
+/ocs2_ddp                                              @sunausti
+/ocs2_ros_interface                                    @xzhan34
+/ocs2_pinocchio/ocs2_pinocchio_interface               @sunausti
+/ocs2_pinocchio/ocs2_self_collision                    @sunausti
+/ocs2_pinocchio/ocs2_self_collision_visualization      @Nisyhaal
+/ocs2_robotic_examples/ocs2_mobile_manipulator         @baihe-liu
+/ocs2_robotic_examples/ocs2_mobile_manipulator_ros     @sunausti

.github/workflows/ros-build-test.yml

@@ -2,77 +2,86 @@ name: Build and Test OCS2
 
 on:
   push:
-    branches: [ main ]
+    branches: [ ros2 ]
   pull_request:
-    branches: [ main ]
+    branches: [ ros2 ]
 
 jobs:
   build:
-
-    # build both Debug and Release mode
     strategy:
-      fail-fast: false
       matrix:
-        build_type: [ Debug, Release ]
-
+        mujoco-version: [2.3.7]
     # environment: regular Ubuntu with a vanilla ROS container
-    runs-on: ubuntu-latest
-    container: 
-      image: ros:noetic
+    runs-on: [self-hosted, Linux, X64]
+    # Registry the docker image to configure /etc/docker/daemon.json as:
+    # {
+    #   "insecure-registries": ["XXX.XXX.XXX.XXX:XXXX",
+    #                           "ecgfiscbuildserver1.sh.intel.com:5000"]
+    # }
+    container: ecgfiscbuildserver1.sh.intel.com:5000/ros2_ocs2:latest
 
     steps:
     - name: Environment Info
+      shell: bash
       run: |
         pwd
         uname -r
         lsb_release -a
 
     - name: System deps
+      shell: bash
       run: |
         apt-get update
-        apt-get install -y git ninja-build liburdfdom-dev liboctomap-dev libassimp-dev checkinstall wget rsync
+        source /opt/ros/humble/setup.bash
 
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
       with: 
         path: src/ocs2 
+        submodules: false
+
+    - uses: actions/checkout@v4
+      with:
+        repository: intel-sandbox/ocs2_robotic_assets
+        ref: ros2
+        path: src/ocs2_robotic_assets
+        token: ${{ secrets.GH_PAT }}
 
     - name: Rosdep
+      shell: bash
       run: |
-        rosdep update
+        rosdep update --rosdistro humble
         rosdep install --from-paths src --ignore-src -r -y
 
-    - name: Checkout dependencies
-      run: |
-        git clone --recurse-submodules https://github.com/leggedrobotics/pinocchio.git src/pinocchio
-        git clone --recurse-submodules https://github.com/leggedrobotics/hpp-fcl.git src/hpp-fcl
-        git clone https://github.com/leggedrobotics/ocs2_robotic_assets.git src/ocs2_robotic_assets
-
-    - name: Install RaiSim
+    - name: Build
+      shell: bash
       run: |
-        git clone --depth 1 https://github.com/raisimTech/raisimLib.git -b v1.1.01 src/raisim_tech
-        cd src/raisim_tech
-        mkdir build
-        cd build
-        cmake .. -DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)")
-        make -j4 && checkinstall
-
-    - name: Install ONNX Runtime
+        rm -fr build install log
+        if [ -d "src/MujocoRosUtils" ]; then
+          echo "Cleaning up existing src/MujocoRosUtils directory..."
+          rm -rf src/MujocoRosUtils
+        fi
+        rm -fr mujoco-*
+        source /opt/ros/humble/setup.bash
+        colcon build --packages-skip mujoco_ros_utils --cmake-args -DCMAKE_BUILD_TYPE=Release 
+
+    - name: Download MuJoCo
+      shell: bash
       run: |
-        wget https://github.com/microsoft/onnxruntime/releases/download/v1.7.0/onnxruntime-linux-x64-1.7.0.tgz -P tmp/microsoft
-        tar xf tmp/microsoft/onnxruntime-linux-x64-1.7.0.tgz -C tmp/microsoft
-        rsync -a tmp/microsoft/onnxruntime-linux-x64-1.7.0/include/ /usr/local/include/onnxruntime
-        rsync -a tmp/microsoft/onnxruntime-linux-x64-1.7.0/lib/ /usr/local/lib
-        rsync -a src/ocs2/ocs2_mpcnet/ocs2_mpcnet_core/misc/onnxruntime/cmake/ /usr/local/share/onnxruntime
+        wget https://github.com/deepmind/mujoco/releases/download/${{ matrix.mujoco-version }}/mujoco-${{ matrix.mujoco-version }}-linux-x86_64.tar.gz
+        tar -zxvf mujoco-${{ matrix.mujoco-version }}-linux-x86_64.tar.gz
+        rm -fr mujoco-${{ matrix.mujoco-version }}-linux-x86_64.tar.gz
 
-    - name: Build (${{ matrix.build_type }})
+    - name: Build MuJoCoRosUtil
       shell: bash
       run: |
-        source /opt/ros/noetic/setup.bash
-        catkin_make_isolated --use-ninja --merge --only-pkg-with-deps ocs2 --cmake-args -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} 
+        git clone --recurse-submodules https://github.com/isri-aist/MujocoRosUtils.git src/MujocoRosUtils
+        rosdep install -y -r --from-paths src --ignore-src
+        source /opt/ros/humble/setup.bash 
+        colcon build --packages-select mujoco_ros_utils --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DMUJOCO_ROOT_DIR=${PWD}/mujoco-${{ matrix.mujoco-version }}
 
     - name: Test
       shell: bash
       run: |
-        source devel_isolated/setup.bash
-        catkin_make_isolated --use-ninja --merge --only-pkg-with-deps ocs2 --catkin-make-args run_tests
-        catkin_test_results
+        source install/setup.bash
+        colcon test
+        colcon test-result --all --verbose

log/latest

@@ -0,0 +1 @@
+latest_build

log/latest_build

@@ -0,0 +1 @@
+build_2025-10-23_11-13-03