[[Tutorial]]
Up:[[Tutorial]]

----

The aim of this tutorial is to explain how to integrate SIGVerse with ROS operating system.

First, we will show how to install ROS on your operating system, then we will explain step by step how to run SIGVerse controller in ROS node and how to communicate with another node.

The ROS part tutorial is based on the official [[ROS wiki:http://www.ros.org/wiki/]], you can check it for more details.


#contents

*Overview[#ed1b8322]

In order to integrate SIGVerse and ROS, we first need to create ROS package containing two nodes, SIGVerse controller node and ROS command node.
The first node, SIGVerse controller node, will receive data from the SIGViewer as messages, then publish them on the message topic, in the other part, ROS command node reads these data and subscribe the corresponding velocity on the velocity topic, the velocity command will be retrieved by the SIGVerse controller node to be used for controlling the robot.

&ref(Simple_Ros_.PNG,,80%);

*Installing ROS [#ed1b8326]

= Ubuntu install of ROS Groovy =
////////////////////////////////////

We are building Debian packages for several Ubuntu platforms, listed below. These packages are more efficient than source-based builds and are our preferred installation method for Ubuntu.

If you need to install from source ('''not recommended'''), please see [[groovy/Installation/Source|source (download-and-compile) installation instructions]].
*Installing ROS [#ed1b8326]

To install ROS on your server please refer to the [[official web site:http://wiki.ros.org/ROS/Installation]].


=== Installation ===

First, make sure your Debian package index is up-to-date:

  $ sudo apt-get update



There are many different libraries and tools in ROS.  We provided four default configurations to get you started.  You can also install ROS packages individually.

  
   $ sudo apt-get install ros-groovy-desktop-full
 


   $ sudo apt-get install ros-groovy-desktop



ROS-Base: (Bare Bones)
-ROS package, build, and communication libraries. No GUI tools.

 
  $ sudo apt-get install ros-groovy-ros-base




Individual Package:

- You can also install a specific ROS package (replace underscores with dashes of the package name):

 $ sudo apt-get install ros-groovy-PACKAGE

 $ sudo apt-get install ros-groovy-slam-gmapping


To find available packages, use:

 $ apt-cache search ros-groovy


=== Initialize rosdep ===

Before you can use ROS, you will need to initialize `rosdep`. `rosdep` enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS.


 $ sudo rosdep init
 $ rosdep update




=== Getting rosinstall ===

[[rosinstall]] is a frequently used command-line tool in ROS that is distributed separately.  It enables you to easily download many source trees for ROS packages with one command.

- To install this tool on Ubuntu, run: 


 $ sudo apt-get install python-rosinstall


**Creating ROS workspace [#ed1b8324]
In our project we are using catkin, here is the step to follow to create a ROS workspace:
In our project we are using catkin, here are the steps to follow to create a ROS workspace:

Run the following command:
 $ source /opt/ros/groovy/setup.sh

To create a catkin workspace:

 $ mkdir -p ~/catkin_ws/src
 $ cd ~/catkin_ws/src
 $ catkin_init_workspace

You can build even though no project is created yet, you just need MakeLists.txt:

 $ cd ~/catkin_ws/
 $ catkin_make

Run the setup.bash

 $ source devel/setup.bash

*Overview[#ed1b8322]

In order to integrate SIGVerse and ROS You need to build the following basic system.
First, we need to create two ROS packages, SIGVerse controller and ROS command package which will run as nodes.
The first node, SIGVerse controller node, will receive data from the SIGViewer as messages, which will publish them on the message topic, in the other part, ROS command node receives reads these data and subscribe the convenient velociy on the velocity topic, the velocity command will be retrieved by the SIGVerse controller node to be used for controlling the robot.
////////////////////////////////////

&ref(Simple_Ros_.PNG,,80%);

*Creating the package [#ed1b8323]
We need to create a new package in the catkin_ws directory.
// containing two nodes.

- To create a new package, go to catkin_ws:
 $ cd ~/catkin_ws/src
 $ catkin_create_pkg sig_ros

//- Create two new cpp files named sig_controller.cpp and ros_controller.cpp
// $ cd ~/catkin_ws/sig_ros/src/
// $ vim sig_controller.cpp
// $ vim ros_controller.cpp



*Creating Packages [#ed1b8323]
We need to create two new packages in the catkin_ws directory.
/////////////////////////////////////////

**SIGVerse Package [#ed1b8333]
This package is used to receive data from the SIGViewer, and receive the command to be sent the robot from the ROS command.

- To create a new package, go to catkin_ws:
 $ cd ~/catkin_ws/src
 $ catkin_create_pkg Sigvers_Ros

- Create a new cpp file named Sig_app.cpp
 $ cd ~/catkin_ws/src/
 $ vim Sig_app.cpp
*Download the project [#ed1b8232]

Please download the project file from here.~
https://github.com/SIGVerse/samples/tree/master/ROS_integration

** Compiling the project [#ed1b8353]
// To download the project from GIT repository, use the following link:
// git@socio4.iir.nii.ac.jp:~/SigverseGitServer/unstable/usersContribution/tafifet/ROS_SIG_Integration.git

You need Cmake installed on your server.

////////////////////////////////////////


* Compiling the project [#ed1b8353]

-After downloading the project from git, copy the "sig_ros" directory to ~/catkin_make/src.
-In "~/catkin_make/devel/lib" create a new directory named "libsig_ros" and copy the file "RobotInMove.xml"

You need to have Cmake installed on your server.

Let's edit the CMakeLists.txt file to compile the project:


Cmake parameters:

#highlight(cpp){{
 cmake_minimum_required(VERSION 2.8.3)
 project(Sigvers_Ros)
  find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs message_generation )


 ## Generate messages in the 'msg' folder
     add_message_files(
     FILES
     Velocity.msg
     )



  ## Generate added messages and services with any dependencies listed here
     generate_messages(
     DEPENDENCIES
     std_msgs
     )


  ## include libraries
  include_directories(include ${catkin_INCLUDE_DIRS})
  include_directories(/home/ericgt/sigverse-2.2.0/include/sigverse/home/ericgt/sigverse-2.2.0/include/sigverse/comm/controller)
  include_directories(/home/<username>/sigverse-2.2.0/include/sigverse/home/<username>/sigverse-2.2.0/include/sigverse/comm/controller)
}}


- These lines allow to generate the sig_app library:
- These lines allow to generate the ros_controller node:

 ADD_LIBRARY(Sig_app src/Sig_app.cpp)
 target_link_libraries(Sig_app ${catkin_LIBRARIES})
 add_dependencies(Sig_app Sigvers_Ros_gencpp)
 add_executable(ros_controller src/ros_controller.cpp)
 target_link_libraries(ros_controller ${catkin_LIBRARIES})
 add_dependencies(ros_controller sig_ros_gencpp)


- These lines allow to generate the sig_controller library:

 ADD_LIBRARY(sig_ros/sig_controller src/sig_controller.cpp)
 target_link_libraries(sig_ros/sig_controller ${catkin_LIBRARIES})
 add_dependencies(sig_ros/sig_controller sig_ros_gencpp)


- To compile the package, run the following commands:
 $ cd ~/catkin_ws
 $ catkin_make

A new library will be generated in ~/catkin_ws/devel/lib.
A new library will be generated in ~/catkin_ws/devel/lib/libsig_ros.


Run the following command to add this package to ROS packages:

   $source ~/catkin_ws2/devel/setup.sh 
   $source ~/catkin_ws/devel/setup.sh 



-Now let's check if our package is recognized by ROS:
 & Roscd Sigvers_Ros 
 & Roscd sig_ros

We must have the following output:

 $ CMakeLists.txt include msg package.xml src


This shows that the Sigvers_Ros packages exists.
This shows that the sig_ros package exists.


////////////////////////////////////


*Creating ROS Package [#ed1b8324]
This package is used to receive data from the SIGVerse controller node and send it the velocity command.

- Create a new package:
*Testing the project [#ed1b4432]

 $ cd ~/catkin_ws/src
 $ catkin_create_pkg key_sig
**Running the server [#ed1b8132]

Create a new cpp file named Sig_command.cpp
To run the server please follow the these steps:

 $ cd ~/catkin_ws/src/
 $ vim Sig_app.cpp
Go to catkin_ws and and follow these steps :
 
-Run the ROS system:

**Compiling the project [#ld30b58a]
 $ roscore

We have to edit the CMakeLists.txt file to compile the project:
-Go to ~/catkin_ws/devel/lib/libsig_ros, and run the sigverse controller:

Cmake parameters:
 $ cd ~/catkin_ws/devel/lib/libsig_ros
 $ sigserver.sh -w ./RobotInMove.xml

## Generate added messages and services with any dependencies listed here
 generate_messages(
   DEPENDENCIES
   std_msgs
 )

include_directories(include
  ${catkin_INCLUDE_DIRS}
)
**Client side [#ed1b8131]


- The following lines allow to generate the executable file:
 add_executable(Sig_command src/Sig_command.cpp)
 target_link_libraries(Sig_command ${catkin_LIBRARIES})
 add_dependencies(Sig_command key_sig_generate_message_cpp)
 add_dependencies(Sig_command key_sig_gencpp)
-Run SIGViewer and start the viewer to launch the two nodes.

-To make the robot move, click on the message button, select robot_000 as entity, and send one the following messages:
moveforward, movebackward, turnleft and turnright.

- To compile the package, run the following commands:
 $ cd ~/catkin_ws
 $ catkin_make

*Source Code understanding [#ed1b3329]

Run the following command to add this package to ROS packages:
**SIGVerse controller node [#ed1b3669]

   $source ~/catkin_ws2/devel/setup.sh 
sig_controller.cpp


- Let’s check this file step by step 

-Now let's check if our package is recognized by ROS:
 & Roscd key_sig
The following is the callback function which preforms the command on the velocity of the robot’s wheels:

We must have the following output:

 $ CMakeLists.txt include msg package.xml src
***Message Sender [#ed1b8136]


This shows that the Sigvers_Ros packages exists.





*Source Code understanding [#ed1b8324]

-Let’s study this example step by step 
Now let’s create the callback function which preforms the command on the velocity of the robot’s wheels:


**Message Sender [#ed1b8136]

#highlight(cpp){{
   void SendController::poseCallback(const Sigvers_Ros::VelocityConstPtr& vel)
   {     Wheel_one =  vel->linear;
         Wheel_two =  vel->angular;
      
         printf("Velocity 1!!!  %f\n", Wheel_one);
         printf("Velocity 2!!!  %f\n", Wheel_two);
      
   }
}}

- read from the Velocity Topic
- Printing the Velocity value applied on the robot
-Read from the Velocity Topic.
-Print the Velocity value applied on the robot.



**Node Initialization [#ed1b8137]
***Node Initialization [#ed1b8137]

#highlight(cpp){{
  void SendController::onInit(InitEvent &evt)
   { Wheel_one = 0.0;
    Wheel_two = 0.0;
    int argc =0;
    char** argv = NULL;
    my = this->getRobotObj(this->myname());
    my->setWheel(10.0, 10.0);
    ros::init(argc, argv, "Sigvers_controller_node");
    ros::NodeHandle n;
    ros::init(argc, argv, "sig_controller_node"); //Initialize ROS. This allows ROS to do name remapping through the command line
                                                  // -- not important for now. This is also where we specify the name of our node.
                                                  //Node names must be unique in a running system.
    ros::NodeHandle n;                            // Create a handle to this process' node. The first NodeHandle created will actually do the initialization
                                                  // of the node, and the last one destructed will cleanup any resources the node was using.
    velocity = 1;
    chatter_pub = n.advertise<std_msgs::String>("CommandMess", 1);
    pose_sub = n.subscribe<Sigvers_Ros::Velocity>("mycommand_velocity",    1,&SendController::poseCallback,this);
    ros::Rate loop_rate(10);
    chatter_pub = n.advertise<std_msgs::String>("command_message", 1);
    pose_sub    = n.subscribe<Sigvers_Ros::Velocity>("velocity_command",    1,&SendController::poseCallback,this);
    ros::Rate loop_rate(10); //A ros::Rate object allows you to specify a frequency that you would like to loop at. 
                             //It will keep track of how long it has been since the last call to Rate::sleep(),
                             //and sleep for the correct amount of time.In this case we tell it we want to run at 10hz.
   // Running the ros_command node
   system ("source ~/catkin_ws/devel/setup.sh");
   system ("rosrun sig_ros ros_controller &");
   }
}}

-In this part, we initialize the ROS node.
-Create two topics for publishing/reading data, command_message and velocity_command node.
-Launch the ros_controller node.


**Robot Controller [#ed1b8138]

***Robot Controller [#ed1b8138]
#highlight(cpp){{
 double SendController::onAction(ActionEvent &evt)
 {
  my->setWheelVelocity(Weel_one,Weel_two);
  ros::spinOnce();
  ros::spinOnce(); //
  return 1.0;
 }
}}

This function allows to control the robot using the appropriate velocity.

- Now let’s create a Node to control the robot’s velocity:

**ROS command node [#ed1b3779]

**Command Node initialization ROS Side [#ed1b8139]


This is the node that controls the robot’s velocity:

ros_controller.cpp:

#highlight(cpp){{
  CommandSig::CommandSig():
   linear_(0),
   angular_(0),
   l_scale_(2.0),
   a_scale_(2.0)
   {
    nh_.param("scale_angular", a_scale_, a_scale_);
    nh_.param("scale_linear", l_scale_, l_scale_);
    vel_pub_ = nh_.advertise<Sigvers_Ros::Velocity>("mycommand_velocity", 1);
    mess_sub =    nh_.subscribe("CommandMess",100,&CommandSig::chatterCallback,this);
    
    }
     nh_.param("scale_angular", a_scale_, a_scale_);
     nh_.param("scale_linear",  l_scale_, l_scale_);
     vel_pub_ = nh_.advertise<Sigvers_Ros::Velocity>("velocity_command", 1);
     mess_sub =    nh_.subscribe("command_message",100,&CommandSig::chatterCallback,this);
   }
}}

- Initialization of the command Node's Parameters 

- The Node will send velocity information using mycommand_velocity Topic
- The Node will send velocity information using velocity_command Topic

- The Node will receive information using CommandMess Topic
- The Node will receive information using command_message Topic

- And finally let’s write the main function which launches the command  node

**Main to execute the Node [#v1bef770]
***Main to execute the Node [#v1bef770]

 int main(int argc, char** argv)
#highlight(cpp){{
int main(int argc, char** argv)
  {
   ros::init(argc, argv, "Sigvers_Command_node");
   CommandSig Command_sig;
   ros::Rate loop_rate(10);
   ros::spin();
   return(0);
    ros::init(argc, argv, "ros_command_node");
    CommandSig Command_sig;
    ros::Rate loop_rate(10);
    ros::spin();
    return(0);
  }
}}

- this command creates and does initialization on the Sigvers_Command_node
Node 
- This part starts the Sigvers_Command_node Node.

**Message Sender [#ed1b8140]

-Now let’s create the callback function which receveces message from Sigverse - Node and  sends the right command to the robot:
***Message Sender [#ed1b8140]

** Robot Motion Command ROS Side [#ed1b8141]
- This is the callback function which receives messages from the SIGVerse controller node and publishes the corresponding velocity to be sent to the robot on the velocity_command topic:

#highlight(cpp){{
   void CommandSig::chatterCallback (const std_msgs::String::ConstPtr& msg)
   {
    Sigvers_Ros::Velocity vel;
    if(strcmp("go",msg->data.c_str())==0)
    {
    vel.angular = 3.0;
    vel.linear = 3.0;
    vel_pub_.publish(vel);
    }
    else if(strcmp("back",msg->data.c_str())==0)
   {
    vel.angular = -3.0;
    vel.linear = -3.0;
    vel_pub_.publish(vel);
    }
    else if(strcmp("left" ,msg->data.c_str())==0)
   {
   vel.angular = 0.78;
   vel.linear = -0.78;
   vel_pub_.publish(vel);
   sleep(1.8);
   vel.angular = 0.0;
   vel.linear = 0.0;
   vel_pub_.publish(vel);
   }
   else if(strcmp("right" ,msg->data.c_str())==0)
   {
   vel.angular = -0.78;
   vel.linear = 0.78;
   vel_pub_.publish(vel);
   sleep(1.8);
   vel.angular = 0.0;
   vel.linear =  0.0;
   vel_pub_.publish(vel);
   }
   else if(strcmp("stop",msg->data.c_str())==0)
  {
   vel.angular = 0.0;
   vel.linear = 0.0;
   vel_pub_.publish(vel);
  }
 ………
 .....
 }
}}

//////////////////////////////////////////////////////

*world file [#ed1b8152]
* World file [#ed1b8152]

RobotInMove.xml:

#highlight(cpp){{
 <?xml version="1.0" encoding="utf-8"?>
 <world name="myworld1">
  <gravity x="0.0" y="-980.7" z="0.0"/>
 <instanciate class="WheelRobot-nii-v1.xml" type="Robot">
    <set-attr-value name="name" value="robot_000"/>
    <set-attr-value name="language" value="c++"/>
    <set-attr-value name="implementation"
                    value="./libSig_app.so"/>
    <set-attr-value name="dynamics" value="false"/>
    <set-attr-value name="x" value="-100.0"/>
    <set-attr-value name="y" value="30.0"/>
    <set-attr-value name="z" value="-130.0"/>
    <set-attr-value name="collision" value="true"/>
    <set-attr-value name="name"           value="robot_000"/>
    <set-attr-value name="language"       value="c++"/>
    <set-attr-value name="implementation" value="./libSig_app.so"/>
    <set-attr-value name="dynamics"       value="false"/>
    <set-attr-value name="x"              value="-100.0"/>
    <set-attr-value name="y"              value="30.0"/>
    <set-attr-value name="z"              value="-130.0"/>
    <set-attr-value name="collision"      value="true"/>
    <!--stereo camera right-->
    <camera id="1"
            link="REYE_LINK"
            direction="0.0 -1.0 1.0"
            position="0.0 0.0 3.0"/>
    <!--stereo camera left-->
    <camera id="2"
            link="LEYE_LINK"
            direction="0.0 -1.0 1.0"
            position="0.0 0.0 3.0"/>
    <!--distance sensor-->
    <camera id="3"
            link="WAIST_LINK0"
            direction="0.0 1.0 0.0"
            position="0.0 -5.0 20.0"/>
    <!--monitoring camera-->
    <camera id="4"
            link="WAIST_LINK2"
            direction="0 0 1"
            quaternion="0.0 0.0 -0.966 0.259"
            position="0.0 40.0 120.0"/>
  </instanciate>
 </world>
}}

////////////////////////////////////////////////////

#counter
#highlight(end)

*Running the server [#ed1b8132]
[[Tutorial]]

To run the server you have to follow the following steps:

Go to catkin_ws and execute the follwing command :
 
-Run the ROS system:

 $ roscore

-run the ros ROS node :

 $ rosrun key_sig sig_app 

-Go to ~/catkin_ws/devel/lib/libsig_app and run the sigverse controller:

 $ cd ~/catkin_ws/devel/lib/libsig_app
 $ sigserver.sh -w ./move_robot.xml

*Download the project [#ed1b8232]
To download the project from GIT repository, use the following link:

git@socio4.iir.nii.ac.jp:~/SigverseGitServer/unstable/usersContribution/tafifet/ROS_SIG_Integration.git
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