hsa_project

docker

: docker image and container generation code

• docker_images
• docker_containers

host_install

: .sh files for host PC setting (Ubuntu 18.04), which include

• CUDA 11.4
• (nvidia) docker
• ROS melodic
• Geomagic Touch driver (USB version) with related ROS package (https://github.com/bharatm11/Geomagic_Touch_ROS_Drivers.git)

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How to Run

Docker container

Commands

start contianer -> docker start [CONTAINER_NAME]
attach to container -> docker attach [CONTAINER_NAME]
additional terminal -> docker exec -it [CONTAINER_NAME] bash

Shortcut

container name	command(start)	command(attach)	command(exec)	command(start & attach)
core	cs	ca	ce	core
unity	us	ua	ue	unity
ur10	urs	ura	ure	ur10

Teleoperation

0. Haptic

   • Host PC (Terminal 1)

     # allow authority to the device
     hp 
     # Run haptic device node
     haptic 
     

1. Gazebo (in update)

   • core container (3 terminals)

     gazebo
     

     gc && mgi
     

     ti
     

2. Unity

   • unity contatiner (1 terminal)

     # Run unity hub
     unity
     

     run the Unity-Main-Project and play 'ur10' scene
   • core container (2 terminals)

     unity_bringup
     

     unity_teleop
     

3. Real UR10

   • Host PC (1 terminal)

     # Run gripper node (optional, when need to operate gripper)
     roslaunch robotiq_2f_gripper_control robotiq_action_server_client.launch __ns:=gripper
     or
     gripper
     

   • ur10 contatiner (1 terminal)

     # Run ur10 hardware interface
     ur10_tcp
     

   • Teachpendent
     1. run program
     2. load program -> ExternalControl.urp
     3. play button
   • core container (2 terminal)

     real_bringup
     

     real_teleop
     

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Related Pages

ros-control

http://gazebosim.org/tutorials/?tut=ros_control

http://wiki.ros.org/ros_control

http://www.theoj.org/joss-papers/joss.00456/10.21105.joss.00456.pdf

Unity-ROS Project

https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/ros_unity_integration/publisher.md

https://github.com/fsstudio-team/ZeroSimROSUnity#setting-up-a-new-unity-project

https://github.com/Mediemanden/Unity3D-ROS-RL