This package contains information on running the demo of the ERC INTERACT project done during RSS 2024 during the lab-tour.
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.
- Create a catkin workspace on your laptop in Ubuntu20, (instructions)
- Go to the src folder and clone this repo
cd src git clone [email protected]:INTERACT-tud-amr/erc_demo.git
- 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
- 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
- Build the workspace:
catkin build
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).
- 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 [email protected], for dinova2: ssh-copy-id [email protected]
- Install tmuxp and tmux:
sudo apt install tmux pip install tmuxp
- 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
- Then run it
tmuxp load <output_file>
- To kill all terminal, write the following in one of the terminals:
tmux kill-server