[[Tutorial using ROS for ver.3]]

#contents

* Overview [#me21a0b1]

A human and a robot log in to the same virtual space, and a human gives a cleanup instruction to the robot by pointing.

The human logs in to the virtual space using a Windows + VR device (Oculus Rift).~
The robot log in to the virtual space using Windows + Ubuntu (ROS: Robot Operating System).

Humans and robots (ROS) are connected via the Internet and can communicate in the same virtual space.

#ref(CleanupUsingCloudAndVR_Overview.png)




* Prerequisites [#r10a7b3e]

** Common prerequisites [#ofa841b3]

Using networks is a common prerequisite for humans and robots.

[[Photon Realtime>https://www.photonengine.com/en-US/Realtime]] is used for the cloud, and the port numbers listed on the following page are used when connecting to the Internet. ~
Check whether the port is available beforehand. ~
https://doc.photonengine.com/en-us/realtime/current/connection-and-authentication/tcp-and-udp-port-numbers

If the port numbers are not available, the cloud cannot be used, but it is possible to replace Photon Server on the local network. ~
Photon Server is only compatible with Windows. ~
https://doc.photonengine.com/en-us/server/current/operations/requirements

The environment constructions when using the cloud and when using the local server are explained in [[Environment construction>#Environments]].



** Prerequisites for Human (VR) [#s38cc158]

-Windows environment ~
In addition to [[basic requirements for using SIGVerse assets>Tutorial for ver.3#SystemRequirements]], [[requirements for using Oculus Rift>https://support.oculus.com/248749509016567/]] is also required.
-Oculus Rift ~
Please use Oculus Rift CV1 or Oculus Rift S. ~
Please install [[Oculus Software>https://www.oculus.com/setup/]] on Windows and prepare a basic environment to use Oculus Rift.


** Prerequisites for Robot (ROS) [#y682edd3]

-Windows environment and Ubuntu environment ~
See [[here>Tutorial using ROS for ver.3#SystemRequirements]] for details.





* Environment Construction [#Environments]

The procedure on the human (VR) side and the procedure on the robot (ROS) side are the same.

When using the cloud, follow [[4a.Build Cloud environment>#PhotonCloud]] procedure.~
When using a local server, follow [[4b. Build Local server environment>#PhotonServer]] procedure.


** 1. Create a Photon account [#CreatePhotonAccount]

First you need to create a Photon account. ~
Create it according to the following procedure.

+ Go to [[Photon official site>https://www.photonengine.com/]].
+ Create a Photon account by signing in at the top right of the page.


** 2. Import Oculus Utilities [#k0ec0826]

You need to import Oculus Utilities into your Unity project. 

+ Download Oculus Utilities for Unity ver.1.28.0 from the link below. ~
https://developer.oculus.com/downloads/package/oculus-utilities-for-unity-5/1.28.0/
+ Unzip the downloaded zip file.
+ Open the SIGVerse project in Unity.
+ Click [Assets]-[Import Package]-[Custom Package ...] in Unity menu.
+ Select "OculusUtilities.unitypackage" in the extracted folder.
+ Click [Import] button.
+ Click [Yes] button on the "Update Oculus Utilities Plugin" window.
+ Click [Restart] button on the "Restart Unity" window.




** 3. Using Oculus and PUN libraries [#y0decaa9]

+ Click [SIGVerse]-[SIGVerse Settings] to open the SIGVerse settings.
+ Check [Use Oculus] and [Use PUN] in [Define symbols Settings].

#ref(SIGVerseSettingsOculusPUN.png)



** 4a. Build Cloud environment [#PhotonCloud]

The free plan of Photon Cloud can connect up to 20 people at the same time. See the next page for details. ~
https://www.photonengine.com/en-US/Realtime/pricing

To connect to the cloud, use [[PUN (Photon Unity Networking)>https://www.photonengine.com/en-US/PUN]]. ~
The PUN environment construction procedure is as follows:
+ Sign in to [[Photon official site>https://www.photonengine.com/]].
+ Get application ID.
++ Click [CREATE A NEW APP] button on the dashboard after signing in.
++ Set [Photon Type] to "Photon PUN" and set the application name. (For example, the application name is "CleanupVR")
++ Click [CREATE] button.
++ Check that the PUN app is added to the dashboard app list, and write down the "App ID". ~
(The App ID is 36 digits. Click to display all digits.)
#ref(PhotonAppId.png)
+ Import PUN2 assets into Unity project.
++ Open the SIGVerse project in Unity.
++ Access [[PUN2 page>https://assetstore.unity.com/packages/tools/network/pun-2-free-119922]] of Unity Asset Store.
++ Sign in to your Unity account from the top right of the page.
++ When you click the [Open in Unity] button, PUN2 is displayed on the [Asset Store] tab of Unity. 
++ Uncheck some libraries.~
Please uncheck ''"Photon/PhotonLibs/WebSocket/websocket-sharp.dll".'' Since websocket-sharp.dll is already included in the asset, it will conflict.
#ref(PUN2ExcludeWebsocket-sharp.png)
++ Click [Import] button.~
++ [PUN Wizzard] will be opened. Enter the above "AppID" in the "AppId" field and press the [Setup Project] button. 
#ref(PunWizardCloud.png)
The following [PhotonServerSettings] window opens.
#ref(PhotonServerSettingsForCloud.png)
(This window can also be opened from [Window]-[Photon Unity Networking]-[PUN Wizzard]-[Locate PhotonServerSettings]. AppId is set to "App Id Realtime".)
+ Click [Assets]-[Reimport All] in the Unity menu.
+ Click [Reimport] button to rebuild.


** 4b. Build Local server environment [#PhotonServer]

You can also use Photon Server on a local network instead of the cloud.

+ Sign in to [[Photon official site>https://www.photonengine.com/]].
+ Download a license file.
++ Click [TRY FREE LICENSE] in [[Photon Server page>https://www.photonengine.com/en-US/Server]].
++ Click [DOWNLOAD FREE] to get a license file. ~
The license file is named "E-mail address+Photon-vX.free.100-ccu.license".
+ Install Photon Server.
++ Access [[Photon Server page>https://www.photonengine.com/en-US/sdks#server-sdkserverserver]].
++ Click the version number to the right of "Download SDK" to download the executable file.
++ Run the downloaded file and extract it to the directory you want to install.
++ Open "Photon-OnPremise-Server-SDK_vxxxxxxx\deploy\bin_Win64" in the expanded folder in Explorer.
++ Place the license file. For example, the following figure.
#ref(PhotonServerFolder.png)
+ Start Photon Server. (''After restarting Windows, Photon Server must also be started.'') &Aname(LaunchPhotonServer);
++ Double-click PhotonControl.exe in the bin_Win64 folder to start the application. ~
(App icon appears on the Windows taskbar)
++ Click the PhotonControl icon on the Windows taskbar, click [Game Server IP Config], and then select the appropriate server IP address.
#ref(PhotonServerIP.png)
++ Click [LoadBalancing (MyCloud)]-[Start as application] to start Photon Server.
++ Click [LoadBalancing (MyCloud)]-[Run TestClient (LoadBalancing] to test the server.
+ Import PUN2 assets into Unity project.
++ Open the SIGVerse project in Unity.
++ Access [[PUN2 page>https://assetstore.unity.com/packages/tools/network/pun-2-free-119922]] of Unity Asset Store.
++ Sign in to your Unity account from the top right of the page.
++ When you click the [Open in Unity] button, PUN2 is displayed on the [Asset Store] tab of Unity. 
++ Uncheck some libraries.~
Please uncheck ''"Photon/PhotonLibs/WebSocket/websocket-sharp.dll".'' Since websocket-sharp.dll is already included in the asset, it will conflict.
#ref(PUN2ExcludeWebsocket-sharp.png)
++ Click [Import] button.~
++ [PUN Wizzard] will be opened, so press the [Skip] button.
#ref(PunWizardLocalServer.png)
++ [PhotonServerSettings] will be opened. Make the following settings.
--- Uncheck [Use Name Server]
--- Enter the IP address of Photon Server in [Server]
--- Enter "5055" in [Port].
#ref(PhotonServerSettingsForLocalServer.png)
(This window can also be opened from [Window]-[Photon Unity Networking]-[PUN Wizzard]-[Locate PhotonServerSettings].)
+ Click [Assets]-[Reimport All] in the Unity menu.
+ Click [Reimport] button to rebuild.




* Execution Procedure[#s9ea839c]

If you want to run as a human (VR), please follow the [[this procedure>#human_execution]].

If you want to run as a robot (ROS), please follow the [[this procedure>#robot_execution]].

It doesn't matter which one you run first, but if you want to use a local server, please [[Launch Photon Server>#LaunchPhotonServer]] first.



* Human (VR) Execution procedure [#human_execution]

** Startup Procedure [#vafd19d3]

'' * If you want to use a local server, please [[Launch Photon Server>#LaunchPhotonServer]] first. ''

*** Windows startup procedure [#t197903c]

+ Make sure that Oculus Rift is connected and ready for use.
+ Start the [Assets/SIGVerse/SampleScenes/HSR/HsrCleanupVR(.unity)] scene with reference to [[here>Tutorial using ROS for ver.3#open_scene]].
+ Click the [Human] button to log in as a human.
+ If the robot is not logged in, wait for the robot to log in.

Windows (Login Screen)
#ref(HSRCleanupVRLogin.png)

** Run [#v04386d7]

Operate the human avatar and give cleanup instructions to the robot.

The basic flow is as follows.

+ Send the message "Pick it up!" to the robot while pointing at the target object.
+ Send the message "Clean up!" to the robot while pointing at the destination.


The operation method of Oculus Touch is as follows.

-Pulling the middle finger trigger puts the avatar's hand in the pointing posture.
-When the A or X button is pressed, the message "Pick it up!" is sent to the robot.
-When the B or Y button is pressed, the message "Clean up!" is sent to the robot.
-When you tilt the left stick, the avatar moves in the tilted direction.
-When the right stick is pressed, the message "Good!" is sent to the robot.
-When the left stick is pressed, the message "Bad!" is sent to the robot.

Windows
#ref(HSRCleanupVRHuman.png)





* Robot (ROS) Execution procedure [#robot_execution]

** Startup Procedure [#vafd19d3]

~'' * If you want to use a local server, please [[Launch Photon Server>#LaunchPhotonServer]] first. ''

Start the Ubuntu side and then the Windows side.

*** Ubuntu side startup procedure [#qd09b4ab]

Open a new terminal and run the following command:
 $ roslaunch sigverse_hsr_teleop_key teleop_key.launch

To start rviz, execute the following command.
 $ roslaunch sigverse_hsr_teleop_key teleop_key_with_rviz.launch


*** Windows startup procedure [#t197903c]

+ Start the [Assets/SIGVerse/SampleScenes/HSR/HsrCleanupVR(.unity)] scene with reference to [[here>Tutorial using ROS for ver.3#open_scene]].
+ Click the [Robot] button to log in as a robot.
+ If a human is not logged in, wait for the human to log in.

Windows (Login Screen)
#ref(HSRCleanupVRLogin.png)


** Run [#v04386d7]

You can operate the HSR key on the teleop_key.launch terminal on Ubuntu side.
You can operate HSR by operating the keyboard on the terminal of teleop_key.launch on Ubuntu side.

Operate the robot, select one of the objects on the desk, hold it, and carry it to the place pointed by the person.
Operate the robot and grasp one of the objects on the desk, then bring it to the place where the human points.

* Check the terminal display for details of the operation method. [#w91954f2]
~* Check the terminal for details of the operation.

When exiting, stop the Unity side before exiting the ROS side.
If you want to finish, stop the Unity side and then the ROS side.

Ubuntu side
#ref(HSRCleanupVRRobotUbuntu.png)

Windows side (Logged in)
#ref(HSRCleanupVRRobotWindows.png)

Windows side (Pointing)
#ref(HSRCleanupVRRobotWindowsPointing.png)
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