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[[Tutorial using ROS for ver.3]]

#contents

* Overview [#me21a0b1]

A human and a robot log in to the same virtual space. The human can give a cleanup instruction to the robot by pointing.

The human logs in to the virtual space using Windows + VR device (Oculus Rift).~
The human logs in to the virtual space using Windows + VR Headset.~
The robot logs 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]
* Prerequisites [#Prerequisites]

** 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. ~
[[Photon Unity Networking>https://www.photonengine.com/en-US/PUN]] 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. ~
Instead of the cloud, you can also build a Photon Server on your local network and use that. ~
Photon Server can only be installed on 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]].
~* Make sure that anti-virus software does not block communication.



** 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.
*** Windows environment [#sace77e4]
[[Basic requirements for using SIGVerse assets>Tutorial for ver.3#SystemRequirements]] are needed.

*** VR Headset [#j62de4b5]
You need to meet the system requirements for the VR headset to work. ~
It has been tested with ''Oculus Quest 2'' and ''VIVE Cosmos''.  ~
For VR devices other than these, you may need to do the SteamVR binding. ~
https://valvesoftware.github.io/steamvr_unity_plugin/tutorials/SteamVR-Input.html#binding-actions

You will also need to install [[Steam>https://store.steampowered.com/about/]] and [[SteamVR>https://store.steampowered.com/app/250820/SteamVR/]] on your PC. ~
Download the installer from the official website and install it.

Please install [[Oculus Software>https://www.oculus.com/setup/]] to use Oculus Headsets. [[Oculus Link>https://support.oculus.com/articles/headsets-and-accessories/oculus-link/index-oculus-link]] is also required. ~
Please install [[VIVE Software>https://www.vive.com/us/setup]] to use VIVE Headsets.


** 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]
** 1. Create 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.
+ Create a Photon account.


** 2. Import Oculus Utilities [#k0ec0826]

You need to import Oculus Utilities into your Unity project. 
** 2. Import Unity Assets [#k0ec0826]

+ 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.
Import the required Unity assets.~
For detailed instructions on how to import, please refer to the following link.~
https://docs.unity3d.com/Manual/upm-ui-import.html

*** Import the SteamVR Plugin [#ia30a30b]

+ Go to the following page. ~
https://assetstore.unity.com/packages/tools/integration/steamvr-plugin-32647
+ Download and import the asset.~
Confirmed with version ''2.7.3''.
+ Click [Edit]-[Project Settings...].
+ Check [XR Plug-in Management]-[Plug-in Providers]-[OpenVR Loader]. ~
&#x2a; If you have checked [Oculus], please uncheck that checkbox. ~
&#x2a; Do NOT check the [Initialize XR on Startup] checkbox.

*** Import the PUN 2 - FREE (Photon Unity Networking) [#md3beb42]

** 3. Using Oculus and PUN libraries [#y0decaa9]
+ Go to the following page. ~
https://assetstore.unity.com/packages/tools/network/pun-2-free-119922
+ Download and import the asset.~
Confirmed with version ''2.40''.~
The following should be unchecked when importing because these conflicts with other libraries.
-- Photon/PhotonLibs/WebSocket/websocket-sharp.dll
-- Photon/PhotonUnityNetworking/Demos
-- SteamVR
#ref(ImportPUN.png)
+ In the "PUN Setup" window, please [Skip] and then [Close].



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

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

#ref(SIGVerseSettingsOculusPUN.png)
#ref(SIGVerseSettingsSteamVRPUN.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
https://www.photonengine.com/en-US/pun/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:
The cloud 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.
+ Configure the PUN settings.
++ 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.
++ Click [Window]-[Photon Unity Networking]-[PUN Wizard].
++ Click [Locate PhotonServerSettings].
++ Enter the above "App ID" in the [Server/Cloud Settings]-[App Id PUN] field. 
#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 [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.
You can also use [[Photon Server>https://doc.photonengine.com/en-US/server/current/getting-started/photon-server-in-5min]] 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. ~
++ Click the version number to the right of "Download SDK" to download the zip file.
++ Extract the downloaded file to the directory you want to install.
++ Go to the following page and download the license file for a "100 CCU" license. ~
https://dashboard.photonengine.com/selfhosted
++ Copy the downloaded license file ([Mail Address].Photon-vX.free.100-ccu.license) to the "\deploy\bin_Win64" folder in the Photon server folder.
++ If you want to provide the service to external machines, please set the PublicIPAddress in GameServer.xml.config. ~
(If you are using the service only on your local machine, do not make the following settings) ~
Set the PublicIPAddress in \deploy\LoadBalancing\GameServer\bin\GameServer.xml.config. ~
If you set PublicIPAddress to blank, the IP address will be recognized automatically. Please refer to the following URL for details. ~
https://doc.photonengine.com/en-us/server/current/applications/loadbalancing/application#deploying_a_game_server
+ Start Photon Server. (''After restarting Windows, you will need to start the Photon Server again.'') &Aname(LaunchPhotonServer);
++ Double-click PhotonControl.exe in the "\deploy\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.
+ Configure the PUN settings.
++ 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.
++ Click [Window]-[Photon Unity Networking]-[PUN Wizard].
++ Click [Locate PhotonServerSettings].
++ 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[#Execution]

* Execution Procedure[#s9ea839c]
If you want to run as a human (VR), please follow [[here>#human_execution]].

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 [[here>#robot_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.

*** Note [#o0c0ca14]

If you try to use VMware to run the human side and the robot side on a single PC, the app may crash. ~
This is because the built executable will try to use VR even when running the robot side. (As of July 15, 2021) ~
https://github.com/ValveSoftware/unity-xr-plugin/issues/80

To solve this problem, you may need to run the robot side in the Unity editor or remove "xrsdk-pre-init-library=XRSDKOpenVR" from boot.config.



* 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]].
+ Launch SteamVR and the VR software to make the VR headset ready for use.
+ Start the [Assets/SIGVerse/ExampleScenes/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.
The operation of the VR controller 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 pull the trigger, the avatar's hand will be in the pointing position.
-When the front button is pressed, the message "Pick it up!" is sent to the robot. (A or X button for Oculus Touch)
-When the back button is pressed, the message "Clean up!" is sent to the robot. (B or Y button for Oculus Touch)
-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
Windows (The details may differ from the latest version)
#ref(HSRCleanupVRHuman.png)

''Reference Video''
#youtube(XhcOVdM-6OI)




* 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]].
+ Start the [Assets/SIGVerse/ExampleScenes/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 HSR by operating the keyboard on the terminal of teleop_key.launch on Ubuntu side.
You can control HSR by keyboard operation on the teleop_key.launch terminal.

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 for details of the operation.

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

Ubuntu side
Ubuntu side (The details may differ from the latest version)
#ref(HSRCleanupVRRobotUbuntu.png)

Windows side (Logged in)
Windows side (Logged in) (The details may differ from the latest version)
#ref(HSRCleanupVRRobotWindows.png)

Windows side (Pointing)
#ref(HSRCleanupVRRobotWindowsPointing.png)
''Reference Video''
#youtube(QE4zfDnHjn8)

----
#counter

[[Tutorial for ver.3]]