Liquid Galaxy Robotics Simulation

This is the official documentation for the Robotics Simulation Project for Liquid Galaxy under the Google Summer of Code Program 2025.

Below you will find the instructions to simulate the SO-Arm-100 in a Gazebo environment and control it through your browser.

Table of Contents

• Docker Install [Recommended]
• Build from Source

Docker Install

Prerequisites

For simulating this Robotic Arm through Docker, you would need docker engine installed and configured in your system. In addition to this you would also need a functional browser to control this arm.

Instructions

• Simulation

  • First Pull the necessary Docker Image

    docker pull devxdebanjan/lg_dockerhub:latest

  • Next run this in your terminal to give it display permissions

    xhost +

  • Next run this Image with the necessary configuration as given below

    docker run -it \
    --network=host \
    --ipc=host \
    --env="DISPLAY=$DISPLAY" \
    --env="QT_X11_NO_MITSHM=1" \
    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
    --device=/dev/dri:/dev/dri \
    devxdebanjan/lg_dockerhub:latest

A Gazebo Window now appears with the simulated SO Arm 100 Roboarm. Basic Gazebo Window Controls:

1. Hold Left Click Button and Move to See Around the World
2. Hold Scroll Button and Move Around to Rotate
3. Hold Right Click Button and Move or just simply Scroll to Zoom in and out.

• Controls

  Download this controller html and store it in any directory of your choice.

  Next open this html page in any browser of your choice while the container is running and you can see the Gazebo world.

  Click Connect and Scroll Down to see if the Continuous Control option is already active.

  Now Move the slider left or right and Control the RoboArm accordingly.

Build from Source

Prerequisites

Here we would have quite a few prerequisites.

• Recommended OS: Ubuntu 22.04 LTS (CodeName: Jammy)
• ROS Version: ROS2 Humble
• Gazebo Version: Gazebo Fortress
• Git

Additional Dependencies

• ros2_control

  sudo apt install ros-humble-ros2-control ros-humble-ros2-controllers ros-humble-ign-ros2-control

• rosbridge suite

  sudo apt install ros-humble-rosbridge-server

Instructions

Now that you have your dependencies installed, run these commands to build the package.

Currently the Git repository is private so you have to link your Github with your local system through PAT(Personal Access Token) but once the repository is public this would be a problem any more.

cd
echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc
mkdir -p lg_arm_ws/src/
git clone --branch so_arm_dev --single-branch https://github.com/LiquidGalaxyLAB/LG-Robotics-Simulation-with-Gazebo.git lg_arm

Now you will have a lg_arm_ws directory in your home directory and lg_arm package inside lg_arm_ws/lg_arm

Next go forward and open a new terminal and navigate to the workspace and build it.

cd lg_arm_ws/
colcon build --symlink-install

Now source the workspace and launch your ROS2 launch file.

source ~/lg_arm_ws/install/setup.bash
ros2 launch lg_arm gazebo.launch.xml

You will now see a Gazebo window pop up in your system along with the SO Arm 100 simulated inside it.

Next download this controller html and store it in any directory of your choice. Now open this html page in any browser of your choice while Gazebo is running and you can see the Robotic Arm inside it.

Click Connect and Scroll Down to see if the Continuous Control option is already active. Now you can control the Robotic Arm from your Browser.