Backup diff of IROS2019/Robot Control via ROS(No. 1)

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#ref(Tutorial at IROS2019/IROS2019_logo.png,70%)

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>Tutorial for ver.3]].


#contents

* System Requirements [#SystemRequirements]

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>Tutorial for ver.3#SystemRequirements]].

The ROS requirement is that the OS is '' Ubuntu 16.04 '' and ROS [[Distribution>http://wiki.ros.org/Distributions]] is '' Kinetic Kame ''.

#ref(RobotOperationUsingROS.png)




* Environment Setup [#m4038016]


** Build Ubuntu Environment [#zddcd2d8]

Build Ubuntu environment as follows.~

*** Using VMware [#gc586877]

Instead of preparing an Ubuntu PC, you can use an Ubuntu virtual machine on Windows. ~
Please note that the functions which use GPU are difficult to execute in this case.

In the tutorial at IROS 2019, we provides a file of virtual machine image of Ubuntu environment using VMware.

+ 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
+ Download Iso file of Ubuntu 16.04.6 LTS.~
http://releases.ubuntu.com/16.04/
+ Launch VMware Workstation Player.
+ Click [Create a New Virtual Machine].
+ Use [Installer disc image file(iso):] and select ubuntu-16.04.6-desktop-amd64.iso.
+ Recommend to check "Store virtual disk as a single file".
+ Please adjust Memory and Processors in [Edit virtual machine settings] after creating VM image.

This virtual machine image has already finished the setup of SIGVerse-ros bridge, and several robot modules for Turtlebot, PR2, HSR, and so on.




* Execute Example Scenes with ROS [#o023aef1]

** Unity Scene Execution [#open_scene]

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

+ Check the IP address of the Ubuntu side. ~
Execute the following command in Ubuntu side to check the IP address.
  $ ifconfig
+ Open the SIGVerse project in Unity.
+ Click [SIGVerse]-[SIGVerse Settings] in the Unity menu to open the SIGVerse settings window.
+ 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.)

#ref(SIGVerseSettings.png)


The Unity scene is executed as follows:
+ Double-click [Assets/SIGVerse/SampleScenes/xxxxx/yyyyy(.unity)] on the [Project] tab to open the target scene.
+ Click the play button at the top center of the Unity to play the scene.

** Example Scenes [#od76c211]

- [[(Turtlebot2)Follower]]

- [[(HSR)Operate with Keyboard]]


Next: [[IROS2019/Using Cloud-based VR]]

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#counter


Top: [[Tutorial at IROS2019]]

Backup diff of IROS2019/Robot Control via ROS (No. 1)