Tutorial for ver.3

Virtual robots can be controlled by using SIGVerse and ROS (Robot Operating System).

This section describes examples using ROS. For the examples which do not requires ROS, please see here.

System Requirements

If you want to use ROS, prepare an Ubuntu environment and install ROS there.
ROS communicates with Unity on Windows.

The requirements for Windows can be found at here.

The ROS requirement is that the OS is Ubuntu 16.04 and ROS Distribution is Kinetic Kame .

RobotOperationUsingROS.png

Environment Setup

Build Windows Environment

Please refer to here to build the Windows environment.
After that, perform the following environment construction.

Build Ubuntu Environment

Build Ubuntu environment as follows.

Using VMware

Instead of preparing an Ubuntu PC, you can use an Ubuntu virtual machine on Windows.
However, in this case, the tutorial using GPU is difficult.

The procedure for building an Ubuntu environment using VMware is as follows.

  1. Install VMware Workstation 15.5.0 Player for Windows 64-bit Operating Systems.
    https://my.vmware.com/web/vmware/free#desktop_end_user_computing/vmware_workstation_player/15_0
  2. Download Iso file of Ubuntu 16.04.6 LTS.
    http://releases.ubuntu.com/16.04/
  3. Launch VMware Workstation Player.
  4. Click [Create a New Virtual Machine].
  5. Use [Installer disc image file(iso):] and select ubuntu-16.04.6-desktop-amd64.iso.
  6. Recommend to check "Store virtual disk as a single file".
  7. Please adjust Memory and Processors in [Edit virtual machine settings] after creating VM image.

Install ROS Kinetic

Install ROS by following the ROS installation page.
Then follow the ROS tutorial until you create a ROS workspace.

And add "~/catkin_ws/devel/setup.bash" to .bashrc to simplify subsequent commands. Be careful if you manage multiple ROS workspaces.

$ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

Install ROSBridge_suite

Start the terminal and execute the following command.

$ sudo apt-get install ros-kinetic-rosbridge-server

Install Mongo C driver

In the terminal, execute the following command:

$ cd ~/Downloads
$ wget https://github.com/mongodb/mongo-c-driver/releases/download/1.4.2/mongo-c-driver-1.4.2.tar.gz
$ tar zxvf mongo-c-driver-1.4.2.tar.gz
$ cd mongo-c-driver-1.4.2
$ ./configure
$ make
$ sudo make install

Install Mongo C++ driver

In the terminal, execute the following command:

$ cd ~/Downloads 
$ wget https://github.com/mongodb/mongo-cxx-driver/archive/r3.0.3.tar.gz
$ tar zxvf r3.0.3.tar.gz
$ cd mongo-cxx-driver-r3.0.3/build
$ cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local -DLIBMONGOC_DIR=/usr/local -DLIBBSON_DIR=/usr/local ..
$ sudo make EP_mnmlstc_core
$ make
$ sudo make install

sigverse_ros_bridge settings

In the terminal, execute the following command:

$ cd ~/catkin_ws/src
$ git clone https://github.com/SIGVerse/sigverse_ros_package.git
$ cd ..
$ catkin_make

Install Turtlebot Packages

Install ROS packages to use Turtlebot.
Since there are currently only Indigo pages, the command is replaced for Kinetic.

$ sudo apt-get install ros-kinetic-turtlebot ros-kinetic-turtlebot-apps ros-kinetic-turtlebot-interactions ros-kinetic-turtlebot-simulator ros-kinetic-kobuki-ftdi ros-kinetic-ar-track-alvar-msgs

If an error occurs after changing to "kinetic", the error message will disappear by deleting the report file.

$ ls -la /var/crash
$ sudo rm /var/crash/*

Please refer to the following page when installing to Kinetic Kame.
http://answers.ros.org/question/246015/installing-turtlebot-on-ros-kinetic/

$ sudo apt-get install -y linux-headers-generic
$ sudo sh -c 'echo "deb-src http://us.archive.ubuntu.com/ubuntu/ xenial main restricted
deb-src http://us.archive.ubuntu.com/ubuntu/ xenial-updates main restricted
deb-src http://us.archive.ubuntu.com/ubuntu/ xenial-backports main restricted universe multiverse
deb-src http://security.ubuntu.com/ubuntu xenial-security main restricted" > \
  /etc/apt/sources.list.d/official-source-repositories.list'
$ sudo apt-get update
$ sudo apt-get install -y ros-kinetic-librealsense
$ sudo apt-get install -y ros-kinetic-realsense-camera
$ sudo apt-get install -y ros-kinetic-turtlebot

It is also convenient to install the following:

$ sudo apt-get install ros-kinetic-turtlebot*

Then deploy the launch XML file (3dsensor) for SIGVerse.

$ cd ~/catkin_ws/
$ sudo cp src/sigverse_ros_package/examples/turtlebot2/resources/asus_xtion_pro_sigverse.launch.xml /opt/ros/${ROS_DISTRO}/share/turtlebot_bringup/launch/includes/3dsensor

* Regarding this matter, Mr. Isao Hara from the National Institute of Advanced Industrial Science and Technology provided files and advices. Thank you.

Install PR2 Package

Install the PR2 packages with the following command to use the PR2.

$ sudo apt-get install ros-kinetic-pr2*

Execute Example Scenes with ROS

Unity Scene Execution

Before running the Unity example scene, you need to set the IP address for ROS on Unity.

  1. Check the IP address of the Ubuntu side.
    Execute the following command in Ubuntu side to check the IP address.
     $ ifconfig
  2. Open the SIGVerse project in Unity.
  3. Click [SIGVerse]-[SIGVerse Settings] in the Unity menu to open the SIGVerse settings window.
  4. Enter the IP address of Ubuntu side in [Config file Settings]-[Rosbridge IP].
    (You can also change [Rosbridge Port] and [SIGVerse Bridge Port] in the same way.)
SIGVerseSettings.png

The Unity scene is executed as follows:

  1. Double-click [Assets/SIGVerse/ExampleScenes/xxxxx/yyyyy(.unity)] on the [Project] tab to open the target scene.
  2. Click the play button at the top center of the Unity to play the scene.

Example Scenes


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Attach file: fileSIGVerseSettings.png 72 download [Information] fileRobotOperationUsingROS.png 67 download [Information]

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Last-modified: 2020-04-30 (Thu) 07:02:31 (38d)