ERC Demo 2024

This package contains information on running the demo of the ERC INTERACT project done during RSS 2024 during the lab-tour.

Installation steps:

On the robot:

DO NOT UPDATE SOFTWARE ON THE DINOVA ROBOT WITHOUT APPROVAL FROM EVERYONE IN ERC INTERACT.

The following packages are required to be installed on the robot (under the dinova user): dinova, dinova_utils, dinova_motion, dinova_grasp. The packages installed on the robot should be on the versions as mentioned in install_packages/install_packages.sh.

On your own laptop:

1. Create a catkin workspace on your laptop in Ubuntu20, (instructions)
2. Go to the src folder and clone this repo

   cd src
   git clone git@github.com:INTERACT-tud-amr/erc_demo.git

3. Install the other packages required to run the demo on your laptop:

   cd erc_demo/install_packages
   chmod +x install_packages.sh
   ./install_packages.sh

4. Install the necessary dependencies for the packages included in install_packages, check their respective github for instructions. For the basic version (install_packages.sh), this requires:

   pip install unified-planning[engines,plot] #for dinova_task_planner
   sudo apt install ros-noetic-derived-object-msgs #for visualization_utils

5. Build the workspace:

   catkin build

Steps to run the demo:

Note: Unfortunately, this tmuxp-file only works currently from Ubuntu20, NOT from a Docker. We are aware of the inconvenience and hope to resolve it soon.

In config/, template files are shown of yaml files usable for tmuxp. This eases the process of starting several terminals, by generating all terminals by running 1 command (step 3).

1. On your laptop: Ensure ssh into the robotS without asking for a password:

   ssh-copy-id <user_on_robot>@<ip-robot> # E.g. for dinova1: ssh-copy-id dinova@192.168.0.121, for dinova2: ssh-copy-id dinova@192.168.0.122

2. Install tmuxp and tmux:

   sudo apt install tmux
   pip install tmuxp

3. Create the tmuxp file. This command replaces the ip address with your ip address when connected to the lab-wifi (mrl-wifi-5g).

   cd config
   ./replace_ip <template_file> <output_file> #example: ./replace_ip erc_demo_template.yaml erc_demo_jjohnsen.yaml

4. Then run it

   tmuxp load <output_file>

   To kill all terminals in tmux, write the following in one of the terminals:

   tmux kill-server

5. Open another TWO terminals in which to run the task planner (This is not included in the tmuxp-file yet, because it will start the robots to home). Before running the task planner, check that your joysticks are connected:

   source catkin_ws/devel/setup.zsh
   export ROS_MASTER_URI=http://localhost:11311
   export ROS_IP=<IPADDRESS>
   roslaunch dinova_task_planner basic_planner_d1.launch #AND IN THE SECOND TERMINAL: roslaunch dinova_task_planner basic_planner_d2.launch