sravan/RRRobot
1
0
Fork 0
mirror of https://github.com/EECS-467-W20-RRRobot-Project/RRRobot.git synced 2025-08-21 07:52:44 +00:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'master' into warehouse

Browse Source 
- Move warehouse & gazebo sim instructions from README to home.md
This commit is contained in:
Sravan Balaji
2020-04-12 11:54:29 -04:00
parent 60bc79aea5 030e354474
commit 705f7ac662
5 changed files with 144 additions and 136 deletions
Download Patch File Download Diff File Expand all files Collapse all files

140
README.md
View File

@@ -1,139 +1,7 @@
# RRRobot! <!-- omit in toc -->
# RRRobot!
## Table of Contents <!-- omit in toc -->
- [Contributors](#contributors)
- [Documents](#documents)
- [Introduction](#introduction)
- [Development Guide](#development-guide)
- [Docker Compose Services](#docker-compose-services)
- [GUI Support](#gui-support)
- [Running Docker Containers](#running-docker-containers)
- [Warehouse Simulation](#warehouse-simulation)
- [Gazebo Grasping Simulation](#gazebo-grasping-simulation)
UMICH EECS 467: Autonomous Robotics Laboratory WN 2020 RRRobot Project
## Contributors
## Documentation
### Project Team <!-- omit in toc -->
- Sravan Balaji ([balajsra@umich.edu](mailto:balajsra@umich.edu))
- Chenxi Gu ([chenxgu@umich.edu](mailto:chenxgu@umich.edu))
- Jake Johnson ([thejakej@umich.edu](mailto:thejakej@umich.edu))
- Derek Witcpalek ([dwitcpa@umich.edu](mailto:dwitcpa@umich.edu))
### EECS 467 W20 Course Staff <!-- omit in toc -->
- Prof. Chad Jenkins ([ocj@umich.edu](mailto:ocj@umich.edu))
- Xiaotong Chen ([cxt@umich.edu](mailto:cxt@umich.edu))
- Jana Pavlasek ([pavlasek@umich.edu](mailto:pavlasek@umich.edu))
## Documents
1. [Project Poster](Documents/1.%20Project%20Poster.pdf)
2. [Project Proposal](Documents/2.%20Project%20Proposal.pdf)
## 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).
## Development Guide
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
#### 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.
#### 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.
#### gazebo <!-- omit in toc -->
Similarly to ros, gazebo is the production container for gazebo. This is meant to run our final simulation.
### GUI Support
If using VcXsrv for Windows to enable GUI applications, run XLaunch using [config.xlaunch](utils/config.xlaunch). This will enable the following settings:
- Display Settings
- Multiple Windows
- Display Number: -1
- Client Startup
- Start No Client
- Extra Settings
- [x] Clipboard
- [x] Primary Selection
- [ ] Native OpenGL
- [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:
```
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
```
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.
### Running Docker Containers
1. Start Docker Machine (default)
- WSL: `docker-machine.exe start default`
- Other: `docker-machine start default`
2. Set Docker Machine Environment
- WSL: `docker-machine.exe env`
- Other: `docker-machine env`
3. Navigate to src folder
- `cd /PATH/TO/rrrobot/src`
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`
2. Go to `RRRobot` folder
- `cd /PATH/TO/RRRobot`
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
Please see the project [website](https://eecs-467-w20-rrrobot-project.github.io/RRRobot/home) for documentation.

0
Documents/1. Project Poster.pdf → docs/1. Project Poster.pdf
View File

0
Documents/2. Project Proposal.pdf → docs/2. Project Proposal.pdf
View File

1
docs/_config.yml Normal file
View File

@@ -0,0 +1 @@
theme: jekyll-theme-cayman

139
docs/home.md Normal file
View File

@@ -0,0 +1,139 @@
# RRRobot! <!-- omit in toc -->
## Table of Contents <!-- omit in toc -->
- [Contributors](#contributors)
- [Documents](#documents)
- [Introduction](#introduction)
- [Development Guide](#development-guide)
- [Docker Compose Services](#docker-compose-services)
- [GUI Support](#gui-support)
- [Running Docker Containers](#running-docker-containers)
- [Warehouse Simulation](#warehouse-simulation)
- [Gazebo Grasping Simulation](#gazebo-grasping-simulation)
## Contributors
### Project Team <!-- omit in toc -->
- Sravan Balaji ([balajsra@umich.edu](mailto:balajsra@umich.edu))
- Chenxi Gu ([chenxgu@umich.edu](mailto:chenxgu@umich.edu))
- Jake Johnson ([thejakej@umich.edu](mailto:thejakej@umich.edu))
- Derek Witcpalek ([dwitcpa@umich.edu](mailto:dwitcpa@umich.edu))
### EECS 467 W20 Course Staff <!-- omit in toc -->
- Prof. Chad Jenkins ([ocj@umich.edu](mailto:ocj@umich.edu))
- Xiaotong Chen ([cxt@umich.edu](mailto:cxt@umich.edu))
- Jana Pavlasek ([pavlasek@umich.edu](mailto:pavlasek@umich.edu))
## Documents
1. [Project Poster](1.%20Project%20Poster.pdf)
2. [Project Proposal](2.%20Project%20Proposal.pdf)
## 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).
## Development Guide
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
#### 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.
#### 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.
#### gazebo <!-- omit in toc -->
Similarly to ros, gazebo is the production container for gazebo. This is meant to run our final simulation.
### GUI Support
If using VcXsrv for Windows to enable GUI applications, run XLaunch using [config.xlaunch](utils/config.xlaunch). This will enable the following settings:
- Display Settings
- Multiple Windows
- Display Number: -1
- Client Startup
- Start No Client
- Extra Settings
- [x] Clipboard
- [x] Primary Selection
- [ ] Native OpenGL
- [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:
```
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
```
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.
### Running Docker Containers
1. Start Docker Machine (default)
- WSL: `docker-machine.exe start default`
- Other: `docker-machine start default`
2. Set Docker Machine Environment
- WSL: `docker-machine.exe env`
- Other: `docker-machine env`
3. Navigate to src folder
- `cd /PATH/TO/rrrobot/src`
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`
2. Go to `RRRobot` folder
- `cd /PATH/TO/RRRobot`
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