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. The requirements for Windows can be found at here. The ROS requirement is that the OS is Ubuntu 20.04 and ROS Distribution is Noetic Ninjemys. Build Windows Environment †Please refer to here to build the Windows environment. 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. The procedure for building an Ubuntu environment using VMware is as follows.
Install ROS Noetic Ninjemys †Run the ROS Installation page up to section 1.6 to install ROS. Installation of required libraries (using shell scripts) †The following is a procedure for batch installation of libraries using a shell script. $ wget https://raw.githubusercontent.com/SIGVerse/docker-ros/main/noetic/sigverse_setup.sh $ chmod +x sigverse_setup.sh $ ./sigverse_setup.sh $ source ~/.bashrc Installation of required libraries (manual) †Add commands to .bashrc. †Add "~/catkin_ws/devel/setup.bash" to .bashrc to simplify subsequent commands. $ 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-noetic-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 Install gnome-terminal †If gnome-terminal is not installed, please install it. $ sudo apt install gnome-terminal 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 TurtleBot3 Packages †Install ROS packages to use Turtlebot3. $ sudo apt install ros-noetic-rgbd-launch $ sudo apt install ros-noetic-gmapping $ sudo apt install ros-noetic-turtlebot3* Install PR2 Package †Install the PR2 packages with the following command to use the PR2. $ sudo apt-get install ros-noetic-pr2* $ cd $ROS_ROOT/../prosilica_camera $ sudo mkdir plugins $ sudo cp nodelet_plugins.xml plugins/ 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.
The Unity scene is executed as follows:
Example Scenes †
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