RRRobot/docs/home.md

# RRRobot! <!-- omit in toc -->

## Page Links <!-- omit in toc -->
- [Home](home.md)
- [Documentation](documentation.md)
- [GEAR](gear.md)

## 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)
  - [Gazebo Grasping Simulation](#gazebo-grasping-simulation)
  - [Tips & Tricks](#tips--tricks)
- [Source Code Documentation](#source-code-documentation)
- [GEAR Final Simulation](#gear-final-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)
3. Final Project Report ([PDF](3.%20Final%20Report.pdf)) ([Overleaf](https://www.overleaf.com/read/ncvksrzpvbmr))
4. [Draft Video](https://youtu.be/powEVDPQNEY)

## 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).

Once installed, you can run our final simulation by following the instructions on the [GEAR](gear.md) page.

Information about our source code can be found on the [Documentation](documentation.md) page.

## 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 a container based on the ROS Melodic docker image. This is provided for convenience, but not used for running the final simulation.

#### gazebo <!-- omit in toc -->

gazebo is a container based on the Gazebo Server 9 docker image. This is provided for convenience, but not used for running the final simulation.

#### gear <!-- omit in toc -->

The GEAR container includes the Gazebo Environment for Agile Robotics from the Agile Robotics for Industrial Automation Competition 2019. This is used for running the final simulation.

### GUI Support

If using VcXsrv for Windows to enable GUI applications, run XLaunch using [config.xlaunch](https://github.com/EECS-467-W20-RRRobot-Project/RRRobot/blob/master/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.

You will need to update your environment variable with your IP Address to enable X forwarding. You can create a file called **.env** in the same directory as the docker-compose.yml file with your IP address as shown below. You can also edit the [docker-compose.yml](https://github.com/EECS-467-W20-RRRobot-Project/RRRobot/blob/master/docker_env/docker-compose.yml) to remove the dependence on the `IP_ADDRESS` environment variable.

```
# .env for docker-compose
IP_ADDRESS=<IP Address Here>
```

### 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](https://github.com/EECS-467-W20-RRRobot-Project/RRRobot/blob/master/docker_env/docker-compose.yml) or [Docker Compose Services](#docker-compose-services))
   - `docker-compose run --rm <service_name>`

### 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

### Tips & Tricks

- Clear space on docker machine
  - `docker system prune --volumes`
- See running containers
  - `docker ps`
- Attach a new terminal to a running container
  - `docker exec -it -u root <container> bash`

## Source Code Documentation

Documentation on our source code can be found on the [Documentation](documentation.md) page.

## GEAR Final Simulation

Instructions for running our final GEAR simulation can be found on the [GEAR](gear.md) page.