Set Up Docker Containers for NBV Repository

See the catkin_ws/src/README.md for instructions to download the needed packages.

Running the Demo on Spot

Terminals on Spot

All the steps in this section are in it's own terminal inside Spot. Connect to the AugRE51 Wi-Fi network.

ssh [email protected]

1. ROS Core: run roscore.

export ROS_MASTER_URI=http://192.168.11.151:11311
export ROS_IP=192.168.11.151
source /opt/ros/noetic/setup.bash
roscore

2. Spot Driver: launch the NRG Spot driver from the spot_manipulation_driver package.

export ROS_MASTER_URI=http://192.168.11.151:11311
export ROS_IP=192.168.11.151
source catkin_ws/devel/setup.bash
roslaunch spot_manipulation_driver nrg_spot_driver.launch

3. Spot Tele-Op: launch the tele-operation node from the teleop_twist_joy package.

export ROS_MASTER_URI=http://192.168.11.151:11311
export ROS_IP=192.168.11.151
source /opt/ros/noetic/setup.bash
roslaunch teleop_twist_joy teleop.launch config_filepath:=/home/spot/catkin_ws/atk3.config.yaml

Terminals on Laptop Docker Container

4. build the docker container:

cd ~/nbv_demo_docker/laptop
docker-compose build

All the following steps are run in it's own terminal inside the Docker container.

5. build the catkin workspace:

cd ~/catkin_laptop_ws
catkin build

6. MoveIt: launch the Spot arm MoveIt node from the spot_arm_moveit_config package.

export ROS_MASTER_URI=http://192.168.11.151:11311
export ROS_IP=<YOUR IP ADRESS HERE>
source catkin_laptop_ws/devel/setup.bash
roslaunch spot_arm_moveit_config spot_arm_planning_execution.launch

7. Arm Pose Script: if ROS is correctly configured on the laptop, then the python MoveIt Commander API should pickup the MoveIt node (spot_arm_moveit_config) and start following the arm motions.

export ROS_MASTER_URI=http://192.168.11.151:11311
export ROS_IP=<YOUR IP ADRESS HERE>
source catkin_laptop_ws/devel/setup.bash
cd ~/catkin_laptop_ws
python3 moveit_joint_execute.py

The moveit_joint_execute.py depends on moveit_client.py and some ROS packages in active_nbv repository (robot_helpers) and MoveIt Commander itself. The arm poses are pre-computed for different base paths. By default it should be pre-computed for the S-shaped path around the lab (Starting at the red workbench facing Blake's desk and ending at the back of the lab).