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This repo lays out the web of repositories and setup instructions required to run code and enable experiments for PokeRRT and multimodal planning.

Update: You can use pip install -r requirements.txt to install all the necessary Python modules. Untested.

Set up your dev environment

  1. Setup an SSH Key with GitHub.

  2. Make a project folder for all the repos and the dev environment: mkdir ~/npm && cd ~/npm

  3. Install ROS Noetic on Ubuntu 20.04 with Python 3.8 support.

    # Setup your computer to accept software from packages.ros.org
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

# Setup your SSH keys
sudo apt-get install curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

# Install ROS
sudo apt update
sudo apt install ros-noetic-desktop-full

# Setup your environment — it's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched.
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

# Other dependencies — Up to now you have installed what you need to run the core ROS packages. To create and manage your own ROS workspaces, there are various tools and requirements that are distributed separately. For example, rosinstall is a frequently used command-line tool that enables you to easily download many source trees for ROS packages with one command.
sudo apt install python3-rosinstall python3-rosinstall-generator python3-wstool build-essential python3-rosdep python3-virtualenv

# Before you can use ROS, you will need to initialize rosdep. rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS.
sudo rosdep init
rosdep update

# Create your development workspace
mkdir -p ~/npm/catkin_ws/src
source /opt/ros/noetic/setup.bash
cd ~/npm/catkin_ws
catkin_make

# Add environment variables for catkin workspace to bash
echo "source ~/npm/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

  4. Create your Python 3 virtual environment: cd ~/npm && virtualenv -p python3.8 npm_env. This project was developed using Python 3.8.

  5. Activate your virtual environment: source npm_env/bin/activate

Install the npm_base module

This repo provides datatypes and helper functions for the all repositories in this project.

  1. Clone the repo: cd ~/npm && git clone git@github.com:HIRO-group/npm-base.git
  2. Install the module in editable mode: pip install -e npm-base

Install the logger module

This repo handles all the logging functionality for robot, object, and environment states.

  1. Clone the repo: cd ~/npm && git clone git@github.com:HIRO-group/logger.git
  2. Install the module in editable mode: pip install -e logger

Install the robot_interface module

This allows you to control Sawyer and Panda in simulation (PyBullet) and the real-world.

  1. Install intera_interface. This module allows you to interact with Sawyer in the real-world.

    cd ~/npm/catkin_ws/src
wstool init .
git clone https://github.com/RethinkRobotics/sawyer_robot.git
wstool merge sawyer_robot/sawyer_robot.rosinstall
wstool update

source /opt/ros/noetic/setup.bash

cd ~/npm/catkin_ws
catkin_make

cp ~/npm/catkin_ws/src/intera_sdk/intera.sh ~/npm/catkin_ws

  2. Open ~/npm/catkin_ws/intera.sh in your favorite text editor and edit the following variables. Make sure you're connected to the HIROLab wifi (not HIROLab2!) --- Sawyer is plugged into this router. Connect to real-world Sawyer by launching ./intera.sh after editing the script.

    your_ip="????"  # use ifconfig to find your IP address and copy it here
ros_version="noetic"
robot_hostname="hirosawyer.local"

  3. Install trac_ik for inverse kinematics: sudo apt-get install ros-noetic-trac-ik

  4. Clone the simulation and real-world wrapper: cd ~/npm && git clone git@github.com:HIRO-group/robot-interface.git

  5. Install the module in editable mode: pip install -e robot-interface

Install the simulation environment

  1. Install librealsense: 
    sudo apt install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev libusb-1.0-0-dev
mkdir -p ~/repos && cd ~/repos
git clone https://github.com/IntelRealSense/librealsense
mkdir -p librealsense/build && cd librealsense/build
cmake .. -DFORCE_RSUSB_BACKEND=true -DCMAKE_BUILD_TYPE=release
make -j$(nproc)
sudo make install

sudo ln -s ~/repos/librealsense/config/99-realsense-libusb.rules /etc/udev/rules.d/99-realsense-libusb.rules
    To test your installation, plug the RealSense camera into a USB3 port (this is how it receives power!) and run realsense-viewer in the terminal.
    You should be able to see RGB and depth feeds in the RealSense GUI.
  2. Clone the simulation environment repo: cd ~/npm && git clone git@github.com:HIRO-group/robot-sim-envs.git
  3. Install the module in editable mode: pip install -e robot-sim-envs

Install the skill models

  1. Clone the repo: cd ~/npm && git clone git@github.com:HIRO-group/npm-models.git
  2. Install the module in editable mode: pip install -e npm-models

Install the planning algorithms

  1. Clone the repo: cd ~/npm && git clone git@github.com:HIRO-group/npm-planning.git
  2. Install the module in editable mode: pip install -e npm-planning

Misc

  1. To make your life easier, add these to your ~/.bashrc: 
    alias intera='cd ~/npm/catkin_ws && ./intera.sh'
alias npm='source ~/npm/npm_env/bin/activate'
  2. Run source ~/.bashrc

Now you can use the commands intera and npm to connect to Sawyer and activate your Python virtual environment, respectively.