mirror of
https://github.com/EECS-467-W20-RRRobot-Project/RRRobot.git
synced 2025-08-21 07:52:44 +00:00
Merge branch 'master' into warehouse
- Move warehouse & gazebo sim instructions from README to home.md
This commit is contained in:
Sravan Balaji
140
README.md
140
README.md
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# RRRobot! <!-- omit in toc -->
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# RRRobot!
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## Table of Contents <!-- omit in toc -->
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UMICH EECS 467: Autonomous Robotics Laboratory WN 2020 RRRobot Project
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- [Contributors](#contributors)
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- [Documents](#documents)
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- [Introduction](#introduction)
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- [Development Guide](#development-guide)
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- [Docker Compose Services](#docker-compose-services)
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- [GUI Support](#gui-support)
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- [Running Docker Containers](#running-docker-containers)
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- [Warehouse Simulation](#warehouse-simulation)
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- [Gazebo Grasping Simulation](#gazebo-grasping-simulation)
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## Contributors
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## Documentation
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### Project Team <!-- omit in toc -->
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Please see the project [website](https://eecs-467-w20-rrrobot-project.github.io/RRRobot/home) for documentation.
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- Sravan Balaji ([balajsra@umich.edu](mailto:balajsra@umich.edu))
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- Chenxi Gu ([chenxgu@umich.edu](mailto:chenxgu@umich.edu))
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- Jake Johnson ([thejakej@umich.edu](mailto:thejakej@umich.edu))
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- Derek Witcpalek ([dwitcpa@umich.edu](mailto:dwitcpa@umich.edu))
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### EECS 467 W20 Course Staff <!-- omit in toc -->
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- Prof. Chad Jenkins ([ocj@umich.edu](mailto:ocj@umich.edu))
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- Xiaotong Chen ([cxt@umich.edu](mailto:cxt@umich.edu))
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- Jana Pavlasek ([pavlasek@umich.edu](mailto:pavlasek@umich.edu))
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## Documents
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1. [Project Poster](Documents/1.%20Project%20Poster.pdf)
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2. [Project Proposal](Documents/2.%20Project%20Proposal.pdf)
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## Introduction
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Repository for UMICH EECS 467: Autonomous Robotics (W20) RRRobot! project.
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To get started, you will need to install Docker on your system. Information on what Docker is, how to install it, and how to use it can be found in [Getting Started with Docker](https://sravanbalaji.com/Web%20Pages/blog_docker.html).
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## Development Guide
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At this point, you should have Docker Desktop, Toolbox, or Engine setup on your host system. In this section, you will find a list of the different docker-compose services available and how to run them.
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### Docker Compose Services
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#### ros-dev <!-- omit in toc -->
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ros-dev is the development container for ROS. This is used to provide all the necessary dependencies for working through the ROS tutorials and creating ROS packages.
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#### ros-turtlesim <!-- omit in toc -->
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ros-turtlesim is a container that tests whether GUI support is working. This will install the ros tutorial packages and run the turtlesim GUI with keyboard control. If X forwarding is setup correctly, you should see a window open up with a turtle on a blue background. Use the arrow keys in the container terminal to move it around and press `q` to quit.
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#### ros <!-- omit in toc -->
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ros is the production container for all ROS nodes we create. This is meant to run our final code and interface with the gazebo container for simulation.
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#### gazebo <!-- omit in toc -->
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Similarly to ros, gazebo is the production container for gazebo. This is meant to run our final simulation.
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### GUI Support
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If using VcXsrv for Windows to enable GUI applications, run XLaunch using [config.xlaunch](utils/config.xlaunch). This will enable the following settings:
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- Display Settings
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- Multiple Windows
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- Display Number: -1
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- Client Startup
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- Start No Client
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- Extra Settings
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- [x] Clipboard
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- [x] Primary Selection
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- [ ] Native OpenGL
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- [x] Disable Access Control
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The main thing to note here is that `Native OpenGL` is disabled and `Disable Access Control` is enabled. When running Gazebo GUI applications through a Docker Container in WSL, enabling `Native OpenGL` resulted in the following errors:
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```
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libGL error: No matching fbConfigs or visuals found
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libGL error: failed to load driver: swrast
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libGL error: No matching fbConfigs or visuals found
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libGL error: failed to load driver: swrast
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```
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As mentioned in [No libGL libraries when running Gazebo from ROS](https://github.com/microsoft/WSL/issues/3644#issuecomment-434556680), this can be resolved by disabling `No native OpenGL` in the VcXsrv configuration.
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Additionally, be sure to update the `IP_ADDRESS` variable in [.env](src/.env) with your computer's IP Address to enable X forwarding.
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### Running Docker Containers
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1. Start Docker Machine (default)
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- WSL: `docker-machine.exe start default`
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- Other: `docker-machine start default`
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2. Set Docker Machine Environment
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- WSL: `docker-machine.exe env`
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- Other: `docker-machine env`
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3. Navigate to src folder
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- `cd /PATH/TO/rrrobot/src`
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4. Use Docker Compose to run a service (refer to [docker-compose.yml](src/docker-compose.yml) or [Docker Compose Services](#docker-compose-services))
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- `docker-compose run --rm <service_name>`
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### Warehouse Simulation
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1. Clone repo
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- HTTPS: `git clone https://github.com/EECS-467-W20-RRRobot-Project/RRRobot.git`
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- SSH: `git clone git@github.com:EECS-467-W20-RRRobot-Project/RRRobot.git`
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2. Go to `RRRobot` folder
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- `cd /PATH/TO/RRRobot`
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3. Get submodule(s)
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- `git submodule init`
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4. Go to `docker_env` folder
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- `cd /PATH/TO/RRRobot/docker_env`
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5. Start gazebo docker container
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- `docker-compose run --rm warehouse`
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6. Source ROS Setup
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- `source /opt/ros/melodic/setup.bash`
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7. Go to warehouse folder in container
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- `cd /app/rrrobot_src/warehouse`
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8. Build package
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- `catkin_make clean`
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- `catkin_make`
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- `catkin_make install`
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- `source devel/setup.bash`
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9. Run sample environment
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- `roslaunch osrf_gear sample_environment.launch`
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### Gazebo Grasping Simulation
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1. Source ROS Setup
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- `source /opt/ros/melodic/setup.bash`
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2. Build the drivers for the simulation
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- `cd /app/rrrobot_src/src/simulation_drivers/`
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- `source build.sh`
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3. Start ros master node
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- `roscore &`
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4. Run the gazebo simulator - this will bring up gazebo with a robotic arm
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- `gazebo /app/rrrobot_src/world/rrrobot.world`
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5. Run control and perception programs
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1
docs/_config.yml
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1
docs/_config.yml
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@@ -0,0 +1 @@
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theme: jekyll-theme-cayman
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139
docs/home.md
Normal file
139
docs/home.md
Normal file
@@ -0,0 +1,139 @@
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# RRRobot! <!-- omit in toc -->
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## Table of Contents <!-- omit in toc -->
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- [Contributors](#contributors)
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- [Documents](#documents)
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- [Introduction](#introduction)
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- [Development Guide](#development-guide)
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- [Docker Compose Services](#docker-compose-services)
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- [GUI Support](#gui-support)
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- [Running Docker Containers](#running-docker-containers)
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- [Warehouse Simulation](#warehouse-simulation)
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- [Gazebo Grasping Simulation](#gazebo-grasping-simulation)
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## Contributors
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### Project Team <!-- omit in toc -->
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- Sravan Balaji ([balajsra@umich.edu](mailto:balajsra@umich.edu))
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- Chenxi Gu ([chenxgu@umich.edu](mailto:chenxgu@umich.edu))
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- Jake Johnson ([thejakej@umich.edu](mailto:thejakej@umich.edu))
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- Derek Witcpalek ([dwitcpa@umich.edu](mailto:dwitcpa@umich.edu))
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### EECS 467 W20 Course Staff <!-- omit in toc -->
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- Prof. Chad Jenkins ([ocj@umich.edu](mailto:ocj@umich.edu))
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- Xiaotong Chen ([cxt@umich.edu](mailto:cxt@umich.edu))
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- Jana Pavlasek ([pavlasek@umich.edu](mailto:pavlasek@umich.edu))
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## Documents
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||||||
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1. [Project Poster](1.%20Project%20Poster.pdf)
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2. [Project Proposal](2.%20Project%20Proposal.pdf)
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||||||
|
|
||||||
|
## Introduction
|
||||||
|
|
||||||
|
Repository for UMICH EECS 467: Autonomous Robotics (W20) RRRobot! project.
|
||||||
|
|
||||||
|
To get started, you will need to install Docker on your system. Information on what Docker is, how to install it, and how to use it can be found in [Getting Started with Docker](https://sravanbalaji.com/Web%20Pages/blog_docker.html).
|
||||||
|
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||||||
|
## Development Guide
|
||||||
|
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||||||
|
At this point, you should have Docker Desktop, Toolbox, or Engine setup on your host system. In this section, you will find a list of the different docker-compose services available and how to run them.
|
||||||
|
|
||||||
|
### Docker Compose Services
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||||||
|
|
||||||
|
#### ros-dev <!-- omit in toc -->
|
||||||
|
|
||||||
|
ros-dev is the development container for ROS. This is used to provide all the necessary dependencies for working through the ROS tutorials and creating ROS packages.
|
||||||
|
|
||||||
|
#### ros-turtlesim <!-- omit in toc -->
|
||||||
|
|
||||||
|
ros-turtlesim is a container that tests whether GUI support is working. This will install the ros tutorial packages and run the turtlesim GUI with keyboard control. If X forwarding is setup correctly, you should see a window open up with a turtle on a blue background. Use the arrow keys in the container terminal to move it around and press `q` to quit.
|
||||||
|
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||||||
|
#### ros <!-- omit in toc -->
|
||||||
|
|
||||||
|
ros is the production container for all ROS nodes we create. This is meant to run our final code and interface with the gazebo container for simulation.
|
||||||
|
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|
#### gazebo <!-- omit in toc -->
|
||||||
|
|
||||||
|
Similarly to ros, gazebo is the production container for gazebo. This is meant to run our final simulation.
|
||||||
|
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|
### GUI Support
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||||||
|
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If using VcXsrv for Windows to enable GUI applications, run XLaunch using [config.xlaunch](utils/config.xlaunch). This will enable the following settings:
|
||||||
|
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- Display Settings
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||||||
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- Multiple Windows
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- Display Number: -1
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- Client Startup
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||||||
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- Start No Client
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||||||
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- Extra Settings
|
||||||
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- [x] Clipboard
|
||||||
|
- [x] Primary Selection
|
||||||
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- [ ] Native OpenGL
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||||||
|
- [x] Disable Access Control
|
||||||
|
|
||||||
|
The main thing to note here is that `Native OpenGL` is disabled and `Disable Access Control` is enabled. When running Gazebo GUI applications through a Docker Container in WSL, enabling `Native OpenGL` resulted in the following errors:
|
||||||
|
|
||||||
|
```
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||||||
|
libGL error: No matching fbConfigs or visuals found
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|
libGL error: failed to load driver: swrast
|
||||||
|
libGL error: No matching fbConfigs or visuals found
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||||||
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libGL error: failed to load driver: swrast
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||||||
|
```
|
||||||
|
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||||||
|
As mentioned in [No libGL libraries when running Gazebo from ROS](https://github.com/microsoft/WSL/issues/3644#issuecomment-434556680), this can be resolved by disabling `No native OpenGL` in the VcXsrv configuration.
|
||||||
|
|
||||||
|
Additionally, be sure to update the `IP_ADDRESS` variable in [.env](src/.env) with your computer's IP Address to enable X forwarding.
|
||||||
|
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||||||
|
### Running Docker Containers
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|
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1. Start Docker Machine (default)
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- WSL: `docker-machine.exe start default`
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- Other: `docker-machine start default`
|
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2. Set Docker Machine Environment
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- WSL: `docker-machine.exe env`
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- Other: `docker-machine env`
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|
3. Navigate to src folder
|
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|
- `cd /PATH/TO/rrrobot/src`
|
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|
4. Use Docker Compose to run a service (refer to [docker-compose.yml](src/docker-compose.yml) or [Docker Compose Services](#docker-compose-services))
|
||||||
|
- `docker-compose run --rm <service_name>`
|
||||||
|
|
||||||
|
### Warehouse Simulation
|
||||||
|
|
||||||
|
1. Clone repo
|
||||||
|
- HTTPS: `git clone https://github.com/EECS-467-W20-RRRobot-Project/RRRobot.git`
|
||||||
|
- SSH: `git clone git@github.com:EECS-467-W20-RRRobot-Project/RRRobot.git`
|
||||||
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2. Go to `RRRobot` folder
|
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- `cd /PATH/TO/RRRobot`
|
||||||
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3. Get submodule(s)
|
||||||
|
- `git submodule init`
|
||||||
|
4. Go to `docker_env` folder
|
||||||
|
- `cd /PATH/TO/RRRobot/docker_env`
|
||||||
|
5. Start gazebo docker container
|
||||||
|
- `docker-compose run --rm warehouse`
|
||||||
|
6. Source ROS Setup
|
||||||
|
- `source /opt/ros/melodic/setup.bash`
|
||||||
|
7. Go to warehouse folder in container
|
||||||
|
- `cd /app/rrrobot_src/warehouse`
|
||||||
|
8. Build package
|
||||||
|
- `catkin_make clean`
|
||||||
|
- `catkin_make`
|
||||||
|
- `catkin_make install`
|
||||||
|
- `source devel/setup.bash`
|
||||||
|
9. Run sample environment
|
||||||
|
- `roslaunch osrf_gear sample_environment.launch`
|
||||||
|
|
||||||
|
### Gazebo Grasping Simulation
|
||||||
|
|
||||||
|
1. Source ROS Setup
|
||||||
|
- `source /opt/ros/melodic/setup.bash`
|
||||||
|
2. Build the drivers for the simulation
|
||||||
|
- `cd /app/rrrobot_src/src/simulation_drivers/`
|
||||||
|
- `source build.sh`
|
||||||
|
3. Start ros master node
|
||||||
|
- `roscore &`
|
||||||
|
4. Run the gazebo simulator - this will bring up gazebo with a robotic arm
|
||||||
|
- `gazebo /app/rrrobot_src/world/rrrobot.world`
|
||||||
|
5. Run control and perception programs
|
||||||
Reference in New Issue
Block a user