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.
If you want to use ROS, prepare an Ubuntu environment and install ROS there.
And Ubuntu communicates with Windows on which Unity is installed.
The requirements for Windows can be found at here.
The ROS requirement is that the OS is Ubuntu 16.04 and ROS Distribution is Kinetic Kame .
Please refer to here to build the Windows environment.
After that, perform the following environment construction.
Build Ubuntu environment as follows.
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.
Install ROS by following the ROS installation page.
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
Start the terminal and execute the following command.
$ sudo apt-get install ros-kinetic-rosbridge-server
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
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
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 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 the PR2 packages with the following command to use the PR2.
$ sudo apt-get install ros-kinetic-pr2*
Before running the Unity example scene, you need to set the IP address for ROS on Unity.
$ ifconfig
The Unity scene is executed as follows: