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[[Tutorial for ver.3]]

&color(red){&size(40){Noetic Edition Under Construction};};
&color(red){&size(30){Melodic Edition Backup};};

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 20.04'' and ROS [[Distribution>http://wiki.ros.org/Distributions]] is ''Noetic Ninjemys''.
The ROS requirement is that the OS is ''Ubuntu 18.04'' and ROS [[Distribution>http://wiki.ros.org/Distributions]] is ''Melodic Morenia''.

#ref(RobotOperationUsingROS.png)




* Environment Setup[#vf01a3c9]

** Build Windows Environment [#k2704bce]

Please refer to [[here>Tutorial for ver.3#SystemRequirements]] to build the Windows environment.~
After that, please build the following environment.

** 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. ~
However, in this case, it will be difficult to run tutorials using the GPU. ~
Also note that using VMware requires a lot of computational resources.

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

+ Download VMware Workstation Player.~
https://my.vmware.com/web/vmware/downloads/info/slug/desktop_end_user_computing/vmware_workstation_player/16_0
+ Download Iso file of Ubuntu 20.04.3 LTS.~
http://releases.ubuntu.com/focal/
+ Download Iso file of Ubuntu 18.04.5 LTS.~
http://releases.ubuntu.com/bionic/
+ Launch VMware Workstation Player.
+ Click [Create a New Virtual Machine].
+ Use [Installer disc image file(iso):] and select ubuntu-20.04.3-desktop-amd64.iso.
+ Use [Installer disc image file(iso):] and select ubuntu-18.04.5-desktop-amd64.iso.
+ Recommend to check "Store virtual disk as a single file" on Specify Disk Capacity window.
+ After you have finished creating the VM, adjust the memory and processors in the Virtual Machine Settings of VMware Workstation Player.~
And also set the settings to use the Enhanced keyboard.




*** Install ROS Noetic Ninjemys [#dccef8ca]
Run [[the ROS Installation page>http://wiki.ros.org/noetic/Installation/Ubuntu]] up to section 1.6 to install ROS. ~
*** Install ROS Melodic [#dccef8ca]
Run [[this page>http://wiki.ros.org/melodic/Installation/Ubuntu]] up to section 1.6 to install ROS. ~
Then follow chapter 3 of the [[ROS tutorial>http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment]] to 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 [#c3162771]
Start the terminal and execute the following command.

 $ sudo apt-get install ros-noetic-rosbridge-server
 $ sudo apt-get install ros-melodic-rosbridge-server



*** Install Mongo C driver [#n65f2eba]
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 [#lf0687e5]
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 [#n891675d]
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 TurtleBot3 Packages [#c4f5154e]
*** Install TurtleBot Packages [#c4f5154e]

Install ROS packages to use [[Turtlebot3>http://wiki.ros.org/turtlebot3]]. ~
Install ROS packages to use [[Turtlebot>http://wiki.ros.org/Robots/TurtleBot]]. ~

 $ sudo apt install ros-noetic-rgbd-launch
 $ sudo apt install ros-noetic-gmapping
 $ sudo apt install ros-noetic-turtlebot3*
 $ sudo apt install ros-melodic-rgbd-launch
 $ sudo apt install ros-melodic-gmapping
 $ sudo apt install ros-melodic-turtlebot*
 
 $ cd ~/catkin_ws/
 $ curl -sLf https://raw.githubusercontent.com/gaunthan/Turtlebot2-On-Melodic/master/install_basic.sh | bash
 $ cp src/sigverse_ros_package/examples/turtlebot2/resources/asus_xtion_pro_sigverse.launch.xml src/turtlebot/turtlebot_bringup/launch/includes/3dsensor
 $ catkin_make
 
 $ cd ~/catkin_ws/src
 $ git clone https://github.com/ros-drivers/openni2_camera.git
 $ git clone -b legacy https://github.com/IntelRealSense/librealsense.git
 $ git clone -b indigo-devel https://github.com/IntelRealSense/realsense-ros.git
 $ sed -i 's/c++11/c++14/g' realsense-ros/realsense_camera/CMakeLists.txt
 $ cd $ROS_ROOT/../prosilica_camera
 $ sudo mkdir plugins
 $ sudo cp nodelet_plugins.xml plugins/
 
 $ cd ~/catkin_ws
 $ catkin_make --pkg librealsense
 $ catkin_make
 
 $ source ~/.bashrc

~* Regarding this matter, [[Mr. Isao Hara from the National Institute of Advanced Industrial Science and Technology>http://hara.jpn.com/_default/ja/Topics/SIGVerse20Ver.3.html]] provided files and advices. Thank you.


*** Install PR2 Package [#hf065135]
Install the PR2 packages with the following command to use the PR2.

 $ sudo apt-get install ros-noetic-pr2*
 $ sudo apt-get install ros-melodic-pr2*




* Execute Example Scenes with ROS [#o023aef1]

** Unity Scene Execution [#open_scene]

Before running 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.
  $ hostname -I
+ 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/ExampleScenes/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]]
// - [[(Turtlebot2)Operate with Keyboard]]
- [[(TurtleBot3)Grasp by Keyboard Operation]]
- [[(TurtleBot3)Grasp Automatically]] #darknet_ros(YOLO)
- [[(TurtleBot3)SLAM]]
- [[(TurtleBot3)Recognize Human Pointing]]
- [[(PR2)Operate with Keyboard]]
- [[(HSR)Operate with Keyboard]]
- [[(HSR)Cleanup Task]]
- [[(HSR)Cleanup Task using Cloud and VR]] #Cloud, VR
- [[(HSR)Cleanup Task using Cloud and VR with Playback function]] #Cloud, VR
- [[(TIAGo)Operate with Keyboard]]
- [[(TIAGo)Cleanup Task]]



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