|
| 1 | +# Pick-and-Place Tutorial: Part 0 |
| 2 | + |
| 3 | +This part provides two options for setting up your ROS workspace: using Docker, or manually setting up a catkin workspace. |
| 4 | + |
| 5 | +**Table of Contents** |
| 6 | + - [Option A: Use Docker](#option-a-use-docker) |
| 7 | + - [Option B: Manual Setup](#option-b-manual-setup) |
| 8 | + - [Troubleshooting](#troubleshooting) |
| 9 | + - [Resources](#resources) |
| 10 | + - [Proceed to Part 1](#proceed-to-part-1) |
| 11 | + |
| 12 | +--- |
| 13 | + |
| 14 | +If you have not already cloned this project to your local machine, do so now: |
| 15 | + |
| 16 | +```bash |
| 17 | +git clone --recurse-submodules https://github.com/Unity-Technologies/Unity-Robotics-Hub.git |
| 18 | +``` |
| 19 | + |
| 20 | +## Option A: Use Docker |
| 21 | + |
| 22 | +> The Docker-related files (Dockerfile, setup scripts) are located in the [`docker/`](docker/) directory. |
| 23 | +
|
| 24 | +1. Follow the steps to install [Docker Engine](https://docs.docker.com/engine/install/) for your platform if it is not already installed. |
| 25 | + |
| 26 | +1. Start the Docker daemon. |
| 27 | + > Note: The system-independent `docker info` command can verify whether or not Docker is running. This command will throw a `Server: ERROR` if the Docker daemon is not currently running, and will print the appropriate [system-wide information](https://docs.docker.com/engine/reference/commandline/info/) otherwise. |
| 28 | +
|
| 29 | +1. Build the provided ROS Docker image: |
| 30 | + |
| 31 | + ```bash |
| 32 | + cd /PATH/TO/Unity-Robotics-Hub/tutorials/pick_and_place && |
| 33 | + git submodule update --init --recursive && |
| 34 | + docker build -t unity-robotics:pick-and-place -f docker/Dockerfile . |
| 35 | + ``` |
| 36 | + |
| 37 | + > Note: The provided Dockerfile uses the [ROS Melodic base Image](https://hub.docker.com/_/ros/). Building the image will install the necessary packages, copy the [provided ROS packages and submodules](ROS/) to the container, and build the catkin workspace. |
| 38 | + |
| 39 | +1. Start the newly built Docker container: |
| 40 | + |
| 41 | + ```docker |
| 42 | + docker run -it --rm -p 10000:10000 -p 5005:5005 unity-robotics:pick-and-place /bin/bash |
| 43 | + ``` |
| 44 | + |
| 45 | + When this is complete, it will print: `Successfully tagged unity-robotics:pick-and-place`. This console should open into a bash shell at the ROS workspace root, e.g. `root@8d88ed579657:/catkin_ws#`. |
| 46 | + |
| 47 | +The ROS workspace is now ready to accept commands! |
| 48 | + |
| 49 | +--- |
| 50 | + |
| 51 | +## Option B: Manual Setup |
| 52 | + |
| 53 | +1. Navigate to the `/PATH/TO/Unity-Robotics-Hub/tutorials/pick_and_place/ROS` directory of this downloaded repo. |
| 54 | + - This directory will be used as the [ROS catkin workspace](http://wiki.ros.org/catkin/Tutorials/using_a_workspace). |
| 55 | + - If you cloned the project and forgot to use `--recurse-submodules`, or if any submodule in this directory doesn't have content, you can run the command `git submodule update --init --recursive` to download packages for Git submodules. |
| 56 | + - Copy or download this directory to your ROS operating system if you are doing ROS operations in another machine, VM, or container. |
| 57 | + > Note: This contains the ROS packages for the pick-and-place task, including [ROS TCP Endpoint](https://github.com/Unity-Technologies/ROS-TCP-Endpoint), [Niryo One ROS stack](https://github.com/NiryoRobotics/niryo_one_ros), [MoveIt Msgs](https://github.com/ros-planning/moveit_msgs), `niryo_moveit`, and `niryo_one_urdf`. |
| 58 | + |
| 59 | +1. The provided files require the following packages to be installed. ROS Melodic users should run the following commands if the packages are not already present: |
| 60 | +
|
| 61 | + ```bash |
| 62 | + sudo apt-get update && sudo apt-get upgrade |
| 63 | + sudo apt-get install python-pip ros-melodic-robot-state-publisher ros-melodic-moveit ros-melodic-rosbridge-suite ros-melodic-joy ros-melodic-ros-control ros-melodic-ros-controllers ros-melodic-tf2-web-republisher |
| 64 | + sudo -H pip install rospkg jsonpickle |
| 65 | + ``` |
| 66 | +
|
| 67 | + ROS Noetic users should run: |
| 68 | +
|
| 69 | + ```bash |
| 70 | + sudo apt-get update && sudo apt-get upgrade |
| 71 | + sudo apt-get install python3-pip ros-noetic-robot-state-publisher ros-noetic-moveit ros-noetic-rosbridge-suite ros-noetic-joy ros-noetic-ros-control ros-noetic-ros-controllers |
| 72 | + sudo -H pip3 install rospkg jsonpickle |
| 73 | + ``` |
| 74 | +
|
| 75 | +1. If you have not already built and sourced the ROS workspace since importing the new ROS packages, navigate to your ROS workplace, and run `catkin_make && source devel/setup.bash`. Ensure there are no errors. |
| 76 | +
|
| 77 | +1. The ROS parameters will need to be set to your configuration in order to allow the server endpoint to fetch values for the TCP connection, stored in `src/niryo_moveit/config/params.yaml`. From your ROS workspace, assign the ROS IP in this `yaml` file: |
| 78 | + |
| 79 | + ```bash |
| 80 | + echo "ROS_IP: $(hostname -I)" > src/niryo_moveit/config/params.yaml |
| 81 | + ``` |
| 82 | +
|
| 83 | + > Note: You can also manually assign this value by navigating to the `params.yaml` file and opening it for editing. |
| 84 | +
|
| 85 | + ```yaml |
| 86 | + ROS_IP: <your ROS IP> |
| 87 | + ``` |
| 88 | + |
| 89 | + e.g. |
| 90 | +
|
| 91 | + ```yaml |
| 92 | + ROS_IP: 192.168.50.149 |
| 93 | + ``` |
| 94 | +
|
| 95 | +The ROS workspace is now ready to accept commands! |
| 96 | +
|
| 97 | +--- |
| 98 | +
|
| 99 | +## Troubleshooting |
| 100 | +- Building the Docker image may throw an `Could not find a package configuration file provided by...` exception if one or more of the directories in ROS/ appears empty. Try downloading the submodules again via `git submodule update --init --recursive`. |
| 101 | + |
| 102 | +- `...failed because unknown error handler name 'rosmsg'` This is due to a bug in an outdated package version. Try running `sudo apt-get update && sudo apt-get upgrade` to upgrade packages. |
| 103 | + |
| 104 | +- If the ROS TCP handshake fails (e.g. `ROS-Unity server listening...` printed on the Unity side but no `ROS-Unity Handshake received` on the ROS side), the ROS IP may not have been set correctly in the params.yaml file. Try running `echo "ROS_IP: $(hostname -I)" > src/niryo_moveit/config/params.yaml` in a terminal from your ROS workspace. |
| 105 | +
|
| 106 | +--- |
| 107 | +
|
| 108 | +## Resources |
| 109 | +- [Getting started with Docker](https://docs.docker.com/get-started/) |
| 110 | +- Setting up a ROS workspace: |
| 111 | + |
| 112 | + > Note: this tutorial has been tested with ROS Melodic as well as ROS Noetic. |
| 113 | + - http://wiki.ros.org/ROS/Installation |
| 114 | + - http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment |
| 115 | + - http://wiki.ros.org/catkin/Tutorials/create_a_workspace |
| 116 | +
|
| 117 | +--- |
| 118 | +
|
| 119 | +
|
| 120 | +### Proceed to [Part 1](1_urdf.md). |
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