Backup of Tutorial using ROS for ver.3 (No. 5)

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Tutorial for ver.3

Virtual robots can be controlled by using SIGVerse and ROS (Robot Operating System).

This section describes a example program that uses ROS. Please refer to this page for example programs that do not use ROS.

System Requirements †

If you want to use ROS, prepare an Ubuntu environment and install ROS there.
And Ubuntu communicates with Windows on which Unity is installed.

Please refer to this page for requirements on Windows.

The ROS requirement is that the OS is Ubuntu 16.04 and ROS Distribution is Kinetic Kame .

Environment Setup †

Build Windows environment †

Please refer to this page to build the Windows environment. After that, perform the following environment construction.

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.
However, in this case, the tutorial using GPU is difficult.

The procedure for building an Ubuntu environment using VMware is as follows.

1. 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
2. Download Iso file of Ubuntu 16.04.6 LTS.
   http://releases.ubuntu.com/16.04/
3. Launch VMware Workstation Player.
4. Click [Create a New Virtual Machine].
5. Use [Installer disc image file(iso):] and select ubuntu-16.04.6-desktop-amd64.iso.
6. Recommend to check "Store virtual disk as a single file".
7. Please adjust Memory and Processors in [Edit virtual machine settings] after creating VM image.

Install ROS Kinetic †

Install ROS by following this steps.
Then follow the ROS tutorial until you create a ROS workspace.

And add "~/catkin_ws/devel/setup.bash" to .bashrc to simplify subsequent commands. Be careful if you manage multiple ROS workspaces.

$ 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-kinetic-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

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 Turtlebot packages †

Install ROS packages to use Turtlebot.
Since there are currently only Indigo pages, the command is replaced for Kinetic.

$ sudo apt-get install ros-kinetic-turtlebot ros-kinetic-turtlebot-apps ros-kinetic-turtlebot-interactions ros-kinetic-turtlebot-simulator ros-kinetic-kobuki-ftdi ros-kinetic-ar-track-alvar-msgs

If an error occurs after changing to "kinetic", the error message will disappear by deleting the report file.

$ ls -la /var/crash
$ sudo rm /var/crash/*

Please refer to the following page when installing to Kinetic Kame.
http://answers.ros.org/question/246015/installing-turtlebot-on-ros-kinetic/

$ sudo apt-get install -y linux-headers-generic
$ sudo sh -c 'echo "deb-src http://us.archive.ubuntu.com/ubuntu/ xenial main restricted
deb-src http://us.archive.ubuntu.com/ubuntu/ xenial-updates main restricted
deb-src http://us.archive.ubuntu.com/ubuntu/ xenial-backports main restricted universe multiverse
deb-src http://security.ubuntu.com/ubuntu xenial-security main restricted" > \
  /etc/apt/sources.list.d/official-source-repositories.list'
$ sudo apt-get update
$ sudo apt-get install -y ros-kinetic-librealsense
$ sudo apt-get install -y ros-kinetic-realsense-camera
$ sudo apt-get install -y ros-kinetic-turtlebot

It is also convenient to install the following:

$ sudo apt-get install ros-kinetic-turtlebot*

Then deploy the launch XML file (3dsensor) for SIGVerse.

$ cd ~/catkin_ws/
$ sudo cp src/sigverse_ros_package/samples/turtlebot2/resources/asus_xtion_pro_sigverse.launch.xml /opt/ros/${ROS_DISTRO}/share/turtlebot_bringup/launch/includes/3dsensor

* Regarding this matter, Mr. Isao Hara from the National Institute of Advanced Industrial Science and Technology provided files and advices. Thank you.

Install PR2 package †

Install the PR2 packages with the following command to use the PR2.

$ sudo apt-get install ros-kinetic-pr2*

Executing Example scenes using ROS †

Unity scene Execution †

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

1. Check the IP address of the Ubuntu side.
   Execute the following command in Ubuntu side to check the IP address.

    $ ifconfig

2. Open the SIGVerse project in Unity.
3. Click [SIGVerse]-[SIGVerse Settings] in the Unity menu to open the SIGVerse settings window.
4. 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.)

The Unity scene is executed as follows:

1. Double-click [Assets/SIGVerse/SampleScenes/xxxxx/yyyyy(.unity)] on the [Project] tab to open the target scene.
2. Click the play button at the top center of the Unity to play the scene.

(Turtlebot2)Follower †

This is explained on this page.

(Turtlebot2)Operate with keyboard †

This is explained on this page?.

(TurtleBot3)Grasp by keyboard operation †

This is explained on this page?.

(TurtleBot3)Grasp automatically †

This is a simple example that uses darknet_ros (YOLO) for object recognition and uses point cloud data for grasping automatically.

This is explained on this page?.

(TurtleBot3)SLAM execution †

This is explained on this page?

(TurtleBot3)Recognize human pointing †

This is explained on this page?.

(PR2)Operate with keyboard †

This is explained on this page?.

(HSR)Operate with keyboard †

This is explained on this page?.

(HSR)The Cleanup task execution †

This is explained on this page?

(HSR)The Cleanup task execution using cloud and VR †

Performs the cleanup task that involves PUN (Photon Unity Networking) cloud and human login using VR device (Oculus Rift).
A human and a robot log in to the same virtual space, and the human gives a cleanup instruction to the robot by pointing.
The robot (ROS) side and the human (VR) side are connected via the Internet.

This is explained on this page?.

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