HackNRoll2022 - Telerobots

Group #56B: Hololive

• Ng Wei Jie, Brandon
• Abhinav Ramnath

Setup (Ubuntu 20 Noetic)

• Install ROS dependencies

rosdep update
sudo apt update
sudo apt dist-upgrade
sudo apt install ros-noetic-catkin python3-catkin-tools python3-osrf-pycommon
sudo apt install python3-wstool

• Install ROS Moveit

mkdir -p ~/ws_moveit/src # Install in the
cd ~/ws_moveit/src
wstool init .
wstool merge -t . https://raw.githubusercontent.com/ros-planning/moveit/master/moveit.rosinstall
wstool remove  moveit_tutorials  # this is cloned in the next section
wstool update -t .

• Install Unity

./UnityHub.AppImage unityhub://2020.3.11f1/99c7afb366b3

• Install ROS dependencies

sudo apt-get update && sudo apt-get upgrade
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
sudo -H pip3 install rospkg jsonpickle
sudo apt install python3-tk

• Clone and build repo

cd ~/ros_ws
catkin build

• Install Python dependencies

pip3 install -r requirements.txt

Run

• Start unity simulator
• Select Demo Scene
• Build ROS messages (if necessary)
• Start planner node using Docker (Refer to Docker section to build images)

sudo bash build.sh
sudo bash run.sh

• Start controller node (Select one of the mode)

roslaunch niryo_moveit controller_gui.launch # control on local machine using gui
roslaunch niryo_moveit controller_models.launch # control on local machine using mediapipe models
roslaunch niryo_moveit controller_remote.launch # control remotely by receiving sqs messages

• Run remotely with AWS SQS

python3 controller_gui.py
python3 controller_models.py

Docker

• Install docker

distribution=$(. /etc/os-release;echo $ID$VERSION_ID) \
   && curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add - \
   && curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list

sudo apt-get update

sudo apt-get install -y nvidia-docker2

sudo systemctl restart docker

• Build image

sudo bash build.sh

• Run image

sudo bash run.sh