IROS2019/Robot Control via ROS
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Start:
#ref(Tutorial at IROS2019/IROS2019_logo.png,70%)
This page explains how to control a virutal robot in SIGV...
#ref(Tutorial using ROS for ver.3/RobotOperationUsingROS....
* Environment Setup [#m4038016]
** Setup Ubuntu Environment [#zddcd2d8]
Instead of preparing an Ubuntu PC, you can use an Ubuntu ...
Please note that the functions which use GPU are difficul...
In the tutorial at IROS 2019, we provides a file of virtu...
~*Note: The default RAM size of the virtual machine is 8G...
+ Install VMware Workstation 15.5.0 Player using the inst...
+ Launch VMware Workstation Player.
+ Click [Open a Virtual Machine]
+ Select "Ubuntu16.04.vmx" in the "Ubuntu16.04_InamuraLab...
+ Select [Ubuntu16.04_InamuraLab (SIGVerse-tutorial)]
+ Click [Play virtual machine]
//+ Install VMware Workstation 15.5.0 Player for Windows ...
//https://my.vmware.com/web/vmware/free#desktop_end_user_...
//+ 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 ubun...
//+ Recommend to check "Store virtual disk as a single fi...
//+ Please adjust Memory and Processors in [Edit virtual ...
This virtual machine image has already finished the setup...
* Execute Example Scenes with ROS [#o023aef1]
** Unity Scene Execution [#open_scene]
Before executing the Unity example scene, you need to set...
+ Check the IP address of the Ubuntu side. ~
Execute the following command in Ubuntu side to check the...
$ ifconfig
+ Open the SIGVerse project in Unity.
+ Click [SIGVerse]-[SIGVerse Settings] in the Unity menu ...
+ Enter the IP address of Ubuntu side in [Config file Set...
(You can also change [Rosbridge Port] and [SIGVerse Bridg...
#ref(Tutorial using ROS for ver.3/SIGVerseSettings.png)
//The Unity scene is executed as follows:
//+ Double-click [Assets/SIGVerse/SampleScenes/xxxxx/yyyy...
//+ Click the play button at the top center of the Unity ...
----
* Example 1: Turtlebot2 follows a human [#w1f843c6]
** Startup Procedure [#y3f07e57]
Start the Ubuntu side software first, then start the Wind...
*** Ubuntu side startup procedure [#ge25aa6a]
Open a new terminal and execute the following command:
$ roslaunch sigverse_turtlebot2 follower.launch
*** Windows side startup procedure [#u521891c]
+ Double-click [Assets/SIGVerse/SampleScenes/Turtlebot2/T...
+ Click the play button at the top center of the Unity to...
//Start the [Assets/SIGVerse/SampleScenes/Turtlebot2/Turt...
** Run [#b584cb20]
When you press the arrow key after focusing on the Unity ...
~* To check the TurtleBot2 camera image on the ROS side, ...
$ rosrun image_view image_view image:=/camera/rgb/image_...
~* You can also check with rviz.
$ roslaunch turtlebot_rviz_launchers view_robot.launch
If you want to finish, stop the Unity side and then the R...
#ref((Turtlebot2)Follower/TurtleBot2Follower.png)
''Reference Video'' ~
#youtube(7TpCKHicDF0)
----
* Example 2: Operation of HSR with keyboard [#t865b87d]
** Startup Procedure [#y88d703b]
Start the Ubuntu software first, and then start the Windo...
*** Ubuntu side startup procedure [#z6b04916]
Open a new terminal and run the following command:
$ roslaunch sigverse_hsr_teleop_key teleop_key.launch
To start rviz, execute the following command.
$ roslaunch sigverse_hsr_teleop_key teleop_key_with_rviz...
*** Windows startup procedure [#a6bf004c]
+ Double-click [Assets/SIGVerse/SampleScenes/HSR/HsrTeleo...
+ Click the play button at the top center of the Unity to...
//Start the [Assets/SIGVerse/SampleScenes/HSR/HsrTeleop(....
~* A room will appear when you start. The room is randoml...
** Execution [#kb0f6f81]
You can control HSR by keyboard operation on the teleop_k...
~* Check the terminal for details of the operation.
~* Head's Stereo Camera is disabled to reduce communicati...
If you want to finish, stop the Unity side first, and the...
Ubuntu side (teleop_key_with_rviz.launch)
#ref((HSR)Operate with Keyboard/HSRTeleopKeyUbuntu.png)
Windows side
#ref((HSR)Operate with Keyboard/HSRTeleopKeyWindows.png)
''Reference Video'' ~
#youtube(MMBuCuHP4zk)
Next: [[IROS2019/Application for robot competition (Handy...
----
#counter
Top: [[Tutorial at IROS2019]]
End:
#ref(Tutorial at IROS2019/IROS2019_logo.png,70%)
This page explains how to control a virutal robot in SIGV...
#ref(Tutorial using ROS for ver.3/RobotOperationUsingROS....
* Environment Setup [#m4038016]
** Setup Ubuntu Environment [#zddcd2d8]
Instead of preparing an Ubuntu PC, you can use an Ubuntu ...
Please note that the functions which use GPU are difficul...
In the tutorial at IROS 2019, we provides a file of virtu...
~*Note: The default RAM size of the virtual machine is 8G...
+ Install VMware Workstation 15.5.0 Player using the inst...
+ Launch VMware Workstation Player.
+ Click [Open a Virtual Machine]
+ Select "Ubuntu16.04.vmx" in the "Ubuntu16.04_InamuraLab...
+ Select [Ubuntu16.04_InamuraLab (SIGVerse-tutorial)]
+ Click [Play virtual machine]
//+ Install VMware Workstation 15.5.0 Player for Windows ...
//https://my.vmware.com/web/vmware/free#desktop_end_user_...
//+ 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 ubun...
//+ Recommend to check "Store virtual disk as a single fi...
//+ Please adjust Memory and Processors in [Edit virtual ...
This virtual machine image has already finished the setup...
* Execute Example Scenes with ROS [#o023aef1]
** Unity Scene Execution [#open_scene]
Before executing the Unity example scene, you need to set...
+ Check the IP address of the Ubuntu side. ~
Execute the following command in Ubuntu side to check the...
$ ifconfig
+ Open the SIGVerse project in Unity.
+ Click [SIGVerse]-[SIGVerse Settings] in the Unity menu ...
+ Enter the IP address of Ubuntu side in [Config file Set...
(You can also change [Rosbridge Port] and [SIGVerse Bridg...
#ref(Tutorial using ROS for ver.3/SIGVerseSettings.png)
//The Unity scene is executed as follows:
//+ Double-click [Assets/SIGVerse/SampleScenes/xxxxx/yyyy...
//+ Click the play button at the top center of the Unity ...
----
* Example 1: Turtlebot2 follows a human [#w1f843c6]
** Startup Procedure [#y3f07e57]
Start the Ubuntu side software first, then start the Wind...
*** Ubuntu side startup procedure [#ge25aa6a]
Open a new terminal and execute the following command:
$ roslaunch sigverse_turtlebot2 follower.launch
*** Windows side startup procedure [#u521891c]
+ Double-click [Assets/SIGVerse/SampleScenes/Turtlebot2/T...
+ Click the play button at the top center of the Unity to...
//Start the [Assets/SIGVerse/SampleScenes/Turtlebot2/Turt...
** Run [#b584cb20]
When you press the arrow key after focusing on the Unity ...
~* To check the TurtleBot2 camera image on the ROS side, ...
$ rosrun image_view image_view image:=/camera/rgb/image_...
~* You can also check with rviz.
$ roslaunch turtlebot_rviz_launchers view_robot.launch
If you want to finish, stop the Unity side and then the R...
#ref((Turtlebot2)Follower/TurtleBot2Follower.png)
''Reference Video'' ~
#youtube(7TpCKHicDF0)
----
* Example 2: Operation of HSR with keyboard [#t865b87d]
** Startup Procedure [#y88d703b]
Start the Ubuntu software first, and then start the Windo...
*** Ubuntu side startup procedure [#z6b04916]
Open a new terminal and run the following command:
$ roslaunch sigverse_hsr_teleop_key teleop_key.launch
To start rviz, execute the following command.
$ roslaunch sigverse_hsr_teleop_key teleop_key_with_rviz...
*** Windows startup procedure [#a6bf004c]
+ Double-click [Assets/SIGVerse/SampleScenes/HSR/HsrTeleo...
+ Click the play button at the top center of the Unity to...
//Start the [Assets/SIGVerse/SampleScenes/HSR/HsrTeleop(....
~* A room will appear when you start. The room is randoml...
** Execution [#kb0f6f81]
You can control HSR by keyboard operation on the teleop_k...
~* Check the terminal for details of the operation.
~* Head's Stereo Camera is disabled to reduce communicati...
If you want to finish, stop the Unity side first, and the...
Ubuntu side (teleop_key_with_rviz.launch)
#ref((HSR)Operate with Keyboard/HSRTeleopKeyUbuntu.png)
Windows side
#ref((HSR)Operate with Keyboard/HSRTeleopKeyWindows.png)
''Reference Video'' ~
#youtube(MMBuCuHP4zk)
Next: [[IROS2019/Application for robot competition (Handy...
----
#counter
Top: [[Tutorial at IROS2019]]
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