This package provides safety for human-robot interaction using reachability analysis. We use SaRA to calculate the reachable sets of humans and robots. The SaRA shield additionally provides the necessary trajectory control to stop the robot before any collision with the human could occur.
git clone --recurse-submodules [email protected]:JakobThumm/sara-shield.git
The installation requires gcc, c++>=17, and Eigen3 version 3.4 (download it here: https://eigen.tuxfamily.org/index.php?title=Main_Page).
Set the path to your eigen3 installation to this env variable, e.g.,
export EIGEN3_INCLUDE_DIR="/usr/include/eigen3/eigen-3.4.0"
Install gtest
sudo apt-get install libgtest-dev
cd safety_shield
mkdir build && cd build
cmake ..
make -j 4
pip install -r requirements.txt
python setup.py install
pytest safety_shield/tests
Start Ros with
roscore
Run the concert gazebo project with
cd ~/concert_ws
source ./src/safe_rl_manipulators/src/catkin_ws/devel/setup.bash
source setup.bash
mon launch concert_gazebo concert.launch realsense:=true velodyne:=true
After Gazebo runs, start Xbot2-Gui with
xbot2-gui
This should open a large window with status "Running" in the top left corner. If it opens a small window with the status "Inactive" instead, close and rerun the command above.
Open Rviz for visualization (with the command rviz) and start the xbot plugin in the xbot2 gui. The visualization topics of sara-shield are named /human_joint_marker_array and /robot_joint_marker_array and can be visualized by adding them in rviz.
- Sara-shield should always be built in Release mode, since the timesteps can take too long otherwise, resulting in crashes (
safety limit violation detected ...). - The plugin is not supposed to be paused and restarted. Instead it is recommended to stop gazebo and start it again. (Rviz and Xbot2-gui can stay open)