Tutorial using ROS for ver.3
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[[Tutorial for ver.3]]
Virtual robots can be controlled by using SIGVerse and RO...
This section describes examples using ROS.
For the examples which do not requires ROS, please see [[...
#contents
* System Requirements [#SystemRequirements]
If you want to use ROS, prepare an Ubuntu environment and...
ROS communicates with Unity on Windows. ~
The requirements for Windows can be found at [[here>Tutor...
The ROS requirement is that the OS is ''Ubuntu 20.04'' an...
#ref(RobotOperationUsingROS.png)
* Build Windows Environment [#k2704bce]
Please refer to [[here>Tutorial for ver.3#SystemRequireme...
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 ...
However, in this case, it will be difficult to run tutori...
Also note that using VMware requires a lot of computation...
And the Docker may have problems coexisting with VMware. ...
The procedure for building an Ubuntu environment using VM...
+ Download VMware Workstation Player.~
https://my.vmware.com/web/vmware/downloads/info/slug/desk...
+ Download Iso file of Ubuntu 20.04.4 LTS.~
http://releases.ubuntu.com/focal/
+ Launch VMware Workstation Player.
+ Click [Create a New Virtual Machine].
+ Use [Installer disc image file(iso):] and select ubuntu...
+ Recommend to check "Store virtual disk as a single file...
+ After you have finished creating the VM, adjust the mem...
And also set the settings to use the Enhanced keyboard.
** Install ROS Noetic Ninjemys [#dccef8ca]
Run [[the ROS Installation page>http://wiki.ros.org/noeti...
Then follow chapter 3 of the [[ROS tutorial>http://wiki.r...
** Installation of required libraries (using shell script...
The following is a procedure for batch installation of li...
If this procedure is performed, the subsequent manual ins...
We have confirmed the operation with the standard install...
Therefore, if the name of the ROS workspace is not catkin...
Please use with caution.
$ wget https://raw.githubusercontent.com/SIGVerse/docker...
$ chmod +x sigverse_setup.sh
$ ./sigverse_setup.sh
$ source ~/.bashrc
** Installation of required libraries (manual) [#jbcea028]
*** Add commands to .bashrc. [#rc7a2078]
Add "~/catkin_ws/devel/setup.bash" to .bashrc to simplify...
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
*** Install Mongo C driver [#n65f2eba]
In the terminal, execute the following command:
$ cd ~/Downloads
$ wget https://github.com/mongodb/mongo-c-driver/release...
$ 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/archi...
$ tar zxvf r3.0.3.tar.gz
$ cd mongo-cxx-driver-r3.0.3/build
$ cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFI...
$ sudo make EP_mnmlstc_core
$ make
$ sudo make install
*** Install gnome-terminal [#t7b8a0f5]
If gnome-terminal is not installed, please install it.
$ sudo apt install gnome-terminal
*** sigverse_ros_bridge settings [#n891675d]
In the terminal, execute the following command:
$ cd ~/catkin_ws/src
$ git clone https://github.com/SIGVerse/sigverse_ros_pac...
$ cd ..
$ catkin_make
*** Install TurtleBot3 Packages [#c4f5154e]
Install ROS packages to use [[Turtlebot3>http://wiki.ros....
$ sudo apt install ros-noetic-rgbd-launch
$ sudo apt install ros-noetic-gmapping
$ sudo apt install ros-noetic-turtlebot3*
// $ cd ~/catkin_ws/src
// $ git clone https://github.com/ros-drivers/openni2_cam...
// $ git clone -b legacy https://github.com/IntelRealSens...
// $ git clone -b indigo-devel https://github.com/IntelRe...
// $ sed -i 's/c++11/c++14/g' realsense-ros/realsense_cam...
//
// $ cd ~/catkin_ws
// $ catkin_make --pkg librealsense
// $ catkin_make
//
// $ source ~/.bashrc
*** Install PR2 Package [#hf065135]
Install the PR2 packages with the following command to us...
$ sudo apt-get install ros-noetic-pr2*
$ cd $ROS_ROOT/../prosilica_camera
$ sudo mkdir plugins
$ sudo cp nodelet_plugins.xml plugins/
* Execute Example Scenes with ROS [#o023aef1]
** Unity Scene Execution [#open_scene]
Before running the Unity example scene, you need to set t...
+ Check the IP address of the Ubuntu side. ~
Execute the following command in Ubuntu side to check the...
$ hostname -I
+ 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(SIGVerseSettings.png)
The Unity scene is executed as follows:
+ Double-click [Assets/SIGVerse/ExampleScenes/xxxxx/yyyyy...
+ Click the play button at the top center of the Unity to...
** 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 fu...
- [[(TIAGo)Operate with Keyboard]]
- [[(TIAGo)Cleanup Task]]
----
#counter
End:
[[Tutorial for ver.3]]
Virtual robots can be controlled by using SIGVerse and RO...
This section describes examples using ROS.
For the examples which do not requires ROS, please see [[...
#contents
* System Requirements [#SystemRequirements]
If you want to use ROS, prepare an Ubuntu environment and...
ROS communicates with Unity on Windows. ~
The requirements for Windows can be found at [[here>Tutor...
The ROS requirement is that the OS is ''Ubuntu 20.04'' an...
#ref(RobotOperationUsingROS.png)
* Build Windows Environment [#k2704bce]
Please refer to [[here>Tutorial for ver.3#SystemRequireme...
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 ...
However, in this case, it will be difficult to run tutori...
Also note that using VMware requires a lot of computation...
And the Docker may have problems coexisting with VMware. ...
The procedure for building an Ubuntu environment using VM...
+ Download VMware Workstation Player.~
https://my.vmware.com/web/vmware/downloads/info/slug/desk...
+ Download Iso file of Ubuntu 20.04.4 LTS.~
http://releases.ubuntu.com/focal/
+ Launch VMware Workstation Player.
+ Click [Create a New Virtual Machine].
+ Use [Installer disc image file(iso):] and select ubuntu...
+ Recommend to check "Store virtual disk as a single file...
+ After you have finished creating the VM, adjust the mem...
And also set the settings to use the Enhanced keyboard.
** Install ROS Noetic Ninjemys [#dccef8ca]
Run [[the ROS Installation page>http://wiki.ros.org/noeti...
Then follow chapter 3 of the [[ROS tutorial>http://wiki.r...
** Installation of required libraries (using shell script...
The following is a procedure for batch installation of li...
If this procedure is performed, the subsequent manual ins...
We have confirmed the operation with the standard install...
Therefore, if the name of the ROS workspace is not catkin...
Please use with caution.
$ wget https://raw.githubusercontent.com/SIGVerse/docker...
$ chmod +x sigverse_setup.sh
$ ./sigverse_setup.sh
$ source ~/.bashrc
** Installation of required libraries (manual) [#jbcea028]
*** Add commands to .bashrc. [#rc7a2078]
Add "~/catkin_ws/devel/setup.bash" to .bashrc to simplify...
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
*** Install Mongo C driver [#n65f2eba]
In the terminal, execute the following command:
$ cd ~/Downloads
$ wget https://github.com/mongodb/mongo-c-driver/release...
$ 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/archi...
$ tar zxvf r3.0.3.tar.gz
$ cd mongo-cxx-driver-r3.0.3/build
$ cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFI...
$ sudo make EP_mnmlstc_core
$ make
$ sudo make install
*** Install gnome-terminal [#t7b8a0f5]
If gnome-terminal is not installed, please install it.
$ sudo apt install gnome-terminal
*** sigverse_ros_bridge settings [#n891675d]
In the terminal, execute the following command:
$ cd ~/catkin_ws/src
$ git clone https://github.com/SIGVerse/sigverse_ros_pac...
$ cd ..
$ catkin_make
*** Install TurtleBot3 Packages [#c4f5154e]
Install ROS packages to use [[Turtlebot3>http://wiki.ros....
$ sudo apt install ros-noetic-rgbd-launch
$ sudo apt install ros-noetic-gmapping
$ sudo apt install ros-noetic-turtlebot3*
// $ cd ~/catkin_ws/src
// $ git clone https://github.com/ros-drivers/openni2_cam...
// $ git clone -b legacy https://github.com/IntelRealSens...
// $ git clone -b indigo-devel https://github.com/IntelRe...
// $ sed -i 's/c++11/c++14/g' realsense-ros/realsense_cam...
//
// $ cd ~/catkin_ws
// $ catkin_make --pkg librealsense
// $ catkin_make
//
// $ source ~/.bashrc
*** Install PR2 Package [#hf065135]
Install the PR2 packages with the following command to us...
$ sudo apt-get install ros-noetic-pr2*
$ cd $ROS_ROOT/../prosilica_camera
$ sudo mkdir plugins
$ sudo cp nodelet_plugins.xml plugins/
* Execute Example Scenes with ROS [#o023aef1]
** Unity Scene Execution [#open_scene]
Before running the Unity example scene, you need to set t...
+ Check the IP address of the Ubuntu side. ~
Execute the following command in Ubuntu side to check the...
$ hostname -I
+ 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(SIGVerseSettings.png)
The Unity scene is executed as follows:
+ Double-click [Assets/SIGVerse/ExampleScenes/xxxxx/yyyyy...
+ Click the play button at the top center of the Unity to...
** 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 fu...
- [[(TIAGo)Operate with Keyboard]]
- [[(TIAGo)Cleanup Task]]
----
#counter
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