Stationary ALOHA Software Setup


The Interbotix ALOHA Stationary control software is supported for ROS 2 Humble running on native Linux Ubuntu 22.04.


If using a laptop supplied by Trossen Robotics, all required software will be pre-installed. In this case, you can skip to the Post-Install Hardware Setup section of this guide.

This guide will walk through the process of setting up the Interbotix ALOHA Stationary control software.

ROS 2 Installation

ROS 2 can be installed in one of two ways:

Interbotix X-Series Arm Control Software Installation

Follow the ROS 2 Standard Software Setup > AMD64 Architecture guide.

In short, run the following commands on a machine running Linux Ubuntu 22.04:

$ sudo apt install curl
$ curl '' >
$ chmod +x
$ ./ -d humble -n

The installation script does the following:

  1. Installs ROS 2 Humble (if not already installed).
  2. Creates the following directory structure:
  └── src
      ├── interbotix_ros_core
      ├── interbotix_ros_manipulators
      └── interbotix_ros_toolboxes
  1. Installs dependencies.
  2. Builds the control software and other related tools.
  3. Configures the ROS 2 environment.


After running the install script, remove all added lines beneath the # Interbotix Configurations header in the ~/.bashrc file. Doing so will make environment configuration easier later on.

ALOHA Software Installation

  1. Clone the Interbotix fork of ALOHA into the workspace’s source directory:
$ cd ~/interbotix_ws/src
$ git clone
  1. Run rosdep to install any dependencies:
$ cd ~/interbotix_ws
$ rosdep install --from-paths src --ignore-src -r -y
  1. Set the InterbotixManipulatorXS’s iterative_update_fk default value to False at ~/interbotix_ws/src/interbotix_ros_toolboxes/interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_robot/ (link).
  1. Add the following line to your ~/.bashrc file:
$ echo "export INTERBOTIX_ALOHA_IS_MOBILE=false" >> ~/.bashrc
  1. Build the workspace:
$ cd ~/interbotix_ws
$ colcon build


If planning to change the control or data collection software later on, you may want to do a symbolically-linked install. If that is the case, remove the build and install directories, and re-run colcon build with the --symlink-install flag.

$ cd ~/interbotix_ws
$ rm -rf build install
$ colcon build --symlink-install

Post-Install Hardware Setup

The arm and cameras need to be bound to a unique device. The following sections will provide steps on setting up unique symbolic links for each device.

Camera Setup

  1. Open realsense-viewer
$ realsense-viewer


If realsense-viewer is not already installed on your machine, follow these steps on the librealsense GitHub repository to install librealsense2-utils.

  1. Plug in a single camera and check the sidebar for its entry. If it does not show up in the side bar, click Add Source and find the Intel RealSense D405 in the drop down.
  2. Click on Info for the camera, find the Serial Number, and copy it.
  1. Put the camera serial number in the appropriate config entry at ~/interbotix_ws/src/aloha/config/rs_cam.yaml.
  2. Repeat for the rest of the cameras. If the workspace has not been symbolically-linked, a rebuild may be necessary.

Post-Install Software Tips

Disable wandb

It may be helpful to disable wandb while getting started. To do so, run the command below. Note that this line is added by default to the laptops distributed by Trossen Robotics.

$ echo "WANDB_MODE=disabled" >> ~/.bashrc

Alias Setup

It may be helpful to create bash aliases to make environment configuration easier.

Create a ~/.bash_aliases file:

$ touch ~/.bash_aliases

To create an alias that can be used to set up the ROS 2 environment, add the following line to the ~/.bash_aliases file:

alias setup_aloha="source /opt/ros/humble/setup.bash && source ~/interbotix_ws/install/setup.bash"

Assuming that dependencies of ACT were installed using a venv, to create an alias that can be used to set up the ROS 2 and ACT environments, add the following line to the ~/.bash_aliases file:

alias setup_act="setup_aloha && source /<path_to_aloha_venv>/bin/activate"