Difference between revisions of "Gazebo Tutorial"

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<div class="content-block">
 
<div class="content-block">
−
'''Note: This page describes an upcoming feature in Intera 5.2. Gazebo Simulation for Sawyer is not yet released.'''
 
  
 
[[File:gazebo_logo.png|Gazebo Logo|500px]]<br />
 
[[File:gazebo_logo.png|Gazebo Logo|500px]]<br />
  
−
'''[http://gazebosim.org/tutorials Please visit the Gazebo Tutorials homepage for more information]'''
+
'''[http://gazebosim.org/tutorials Please visit the Gazebo Tutorials homepage for more information about the Physics simulator]'''
  
 
</div>
 
</div>
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== Installation/Prerequisites ==
 
== Installation/Prerequisites ==
−
*Make sure you have followed the [http://sdk.rethinkrobotics.com/wiki/Workstation_Setup workstation setup tutorial] before beginning this section
+
*Make sure you have followed the [[Workstation Setup]] tutorial before beginning this section. Sawyer Gazebo is '''only''' available for '''Ubuntu 16.04, ROS Kinetic, and Gazebo 7'''.
 
*Ensure the following software packages are installed:
 
*Ensure the following software packages are installed:
  
  
 
<tabs>
 
<tabs>
−
<tab name="ROS Indigo (Recommended)">
 
−
<syntaxhighlight lang="bash" enclose="div">
 
−
$ sudo apt-get install gazebo2 ros-indigo-qt-build ros-indigo-driver-common ros-indigo-gazebo-ros-control ros-indigo-gazebo-ros-pkgs ros-indigo-ros-control ros-indigo-control-toolbox ros-indigo-realtime-tools ros-indigo-ros-controllers ros-indigo-xacro python-wstool ros-indigo-tf-conversions ros-indigo-kdl-parser
 
−
</syntaxhighlight>
 
−
</tab>
 
 
<tab name="ROS Kinetic">
 
<tab name="ROS Kinetic">
 
<syntaxhighlight lang="bash" enclose="div">
 
<syntaxhighlight lang="bash" enclose="div">
−
$ sudo apt-get install gazebo7 ros-kinetic-qt-build ros-kinetic-gazebo-ros-control ros-kinetic-gazebo-ros-pkgs ros-kinetic-ros-control ros-kinetic-control-toolbox ros-kinetic-realtime-tools ros-kinetic-ros-controllers ros-kinetic-xacro python-wstool ros-kinetic-tf-conversions ros-kinetic-kdl-parser
+
$ sudo apt-get install gazebo7 ros-kinetic-qt-build ros-kinetic-gazebo-ros-control ros-kinetic-gazebo-ros-pkgs ros-kinetic-ros-control ros-kinetic-control-toolbox ros-kinetic-realtime-tools ros-kinetic-ros-controllers ros-kinetic-xacro python-wstool ros-kinetic-tf-conversions ros-kinetic-kdl-parser ros-kinetic-sns-ik-lib
−
</syntaxhighlight>
 
−
</tab>
 
−
<tab name="ROS Groovy">
 
−
<syntaxhighlight lang="bash" enclose="div">
 
−
$ sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu precise main" > /etc/apt/sources.list.d/gazebo-latest.list'
 
−
$ wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
 
−
$ sudo apt-get update
 
−
$ sudo apt-get install python-wstool python-rosdep ros-groovy-pcl-conversions ros-groovy-control-msgs ros-groovy-cmake-modules ros-groovy-qt-build ros-groovy-moveit-full ros-groovy-driver-common ros-groovy-image-common ros-groovy-rostest gazebo
 
 
</syntaxhighlight>
 
</syntaxhighlight>
 
</tab>
 
</tab>
 
</tabs>
 
</tabs>
  
−
== Baxter Simulator Installation ==
+
== Sawyer Simulator Installation ==
 
<tabs>
 
<tabs>
−
<tab name="ROS Indigo (Recommended)">
+
<tab name="ROS Kinetic">
 
*From your catkin workspace where the SDK resides, use wstool to install and update:
 
*From your catkin workspace where the SDK resides, use wstool to install and update:
−
==== Install baxter_simulator ====
+
==== Install sawyer_simulator ====
 
<syntaxhighlight lang="bash" enclose="div">
 
<syntaxhighlight lang="bash" enclose="div">
 +
$ mkdir -p ~/ros_ws/src
 
$ cd ~/ros_ws/src
 
$ cd ~/ros_ws/src
−
$ wstool init .
+
$ git clone https://github.com/RethinkRobotics/sawyer_simulator.git
−
$ wstool merge https://raw.githubusercontent.com/RethinkRobotics/baxter_simulator/master/baxter_simulator.rosinstall
 
−
$ wstool update
 
−
</syntaxhighlight>
 
−
'''IMPORTANT:''' Make sure all simulator repositories update to their proper branch.
 
−
==== Build Source ====
 
−
<syntaxhighlight lang="bash" enclose="div">
 
−
$ source /opt/ros/indigo/setup.bash
 
−
$ cd ~/ros_ws
 
−
$ catkin_make
 
−
</syntaxhighlight>
 
−
*Use baxter.sh - it has a special hook for sim:
 
−
<syntaxhighlight lang="bash" enclose="div">
 
−
$ cp src/baxter/baxter.sh .
 
−
</syntaxhighlight>
 
−
* Edit the your_ip value in baxter.sh
 
−
</tab>
 
−
<tab name="ROS Kinetic">
 
−
*From your catkin workspace where the SDK resides, use wstool to install and update:
 
−
==== Install baxter_simulator ====
 
−
<syntaxhighlight lang="bash" enclose="div">
 
 
$ cd ~/ros_ws/src
 
$ cd ~/ros_ws/src
 
$ wstool init .
 
$ wstool init .
−
$ wstool merge https://raw.githubusercontent.com/RethinkRobotics/baxter_simulator/kinetic-devel/baxter_simulator.rosinstall
+
$ wstool merge sawyer_simulator/sawyer_simulator.rosinstall
 
$ wstool update
 
$ wstool update
 
</syntaxhighlight>
 
</syntaxhighlight>
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$ catkin_make
 
$ catkin_make
 
</syntaxhighlight>
 
</syntaxhighlight>
−
*Use baxter.sh - it has a special hook for sim:
 
−
<syntaxhighlight lang="bash" enclose="div">
 
−
$ cp src/baxter/baxter.sh .
 
−
</syntaxhighlight>
 
−
* Edit the your_ip value in baxter.sh
 
−
</tab>
 
−
<tab name="ROS Indigo apt-get">
 
−
* First, make sure you have installed ros-indigo-desktop-full: http://wiki.ros.org/indigo/Installation/Ubuntu
 
−
==== Install baxter_simulator ====
 
−
<syntaxhighlight lang="bash" enclose="div">
 
−
$ sudo apt-get install ros-indigo-baxter-simulator
 
−
</syntaxhighlight>
 
−
*Use baxter.sh - it has a special hook for sim:
 
−
<syntaxhighlight lang="bash" enclose="div">
 
−
$ cd ~/ros_ws
 
−
$ wget https://raw.githubusercontent.com/RethinkRobotics/baxter/master/baxter.sh
 
−
</syntaxhighlight>
 
−
* Edit the your_ip value in baxter.sh
 
−
</tab>
 
−
<tab name="ROS Groovy">
 
−
*From your catkin workspace where the SDK resides, use wstool to install and update:
 
−
 
−
<syntaxhighlight lang="bash" enclose="div">
 
−
$ cd ~/ros_ws/src
 
−
$ wstool merge https://raw.githubusercontent.com/RethinkRobotics/baxter_simulator/release-0.8.1/baxter_simulator.rosinstall
 
−
$ cd ~/ros_ws/src
 
−
$ wstool init .
 
−
$ wstool merge baxter_simulator/baxter_simulator.rosinstall
 
−
$ wstool update
 
−
</syntaxhighlight>
 
−
'''IMPORTANT:''' Make sure all simulator repositories update to their proper branch.
 
−
*Build
 
−
<syntaxhighlight lang="bash" enclose="div">
 
−
$ source /opt/ros/groovy/setup.bash
 
−
$ cd ~/ros_ws
 
−
$ catkin_make
 
−
$ catkin_make install
 
−
</syntaxhighlight>
 
−
*Use baxter.sh - it has a special hook for sim:
 
−
<syntaxhighlight lang="bash" enclose="div">
 
−
$ cp src/baxter/baxter.sh .
 
−
</syntaxhighlight>
 
−
* Edit the your_ip value in baxter.sh
 
 
</tab>
 
</tab>
−
 
 
</tabs>
 
</tabs>
 
=== Simulation ===
 
=== Simulation ===
−
*Run the baxter shell script with sim specified:
+
*The intera.sh shell has a special hook of *sim* for Simulation. Run the Intera shell script with sim specified:
 
<syntaxhighlight lang="bash" enclose="div">
 
<syntaxhighlight lang="bash" enclose="div">
−
$ ./baxter.sh sim
+
$ ./intera.sh sim
 
</syntaxhighlight>
 
</syntaxhighlight>
 
*Start simulation with controllers:
 
*Start simulation with controllers:
 
<syntaxhighlight lang="bash" enclose="div">
 
<syntaxhighlight lang="bash" enclose="div">
−
$ roslaunch baxter_gazebo baxter_world.launch
+
$ roslaunch sawyer_gazebo sawyer_world.launch
−
</syntaxhighlight>
 
−
 
 
−
You should wait for the following three lines before the simulator is truly running:
 
−
[ INFO] [1400513321.531488283, 34.216000000]: Simulator is loaded and started successfully
 
−
[ INFO] [1400513321.535040726, 34.219000000]: Robot is disabled
 
−
[ INFO] [1400513321.535125386, 34.220000000]: Gravity compensation was turned off
 
−
By default the robot would be in disabled state. To enable, run the [[Enable_Robot_Tool|enable_robot]] script from the baxter_tools package. To start and switch the controllers, use the JointCommand topic as [[API_Reference#Arm_Joints_Control_2|documented in the Baxter SDK]].
 
−
*Optional: Test/tune the velocity controllers or position controllers using a RQT dashboard GUI. Make sure you are in the right joint command mode when using these:
 
−
<syntaxhighlight lang="bash" enclose="div">
 
−
$ roslaunch baxter_sim_hardware baxter_sdk_position_rqt.launch
 
−
</syntaxhighlight>
 
−
or
 
−
<syntaxhighlight lang="bash" enclose="div">
 
−
$ roslaunch baxter_sim_hardware baxter_sdk_velocity_rqt.launch
 
 
</syntaxhighlight>
 
</syntaxhighlight>
  
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== Run SDK Examples ==
 
== Run SDK Examples ==
−
*Start Wobbler example:
+
*Start Joint Torque Springs example:
 
<syntaxhighlight lang="bash" enclose="div">
 
<syntaxhighlight lang="bash" enclose="div">
−
$ ./baxter.sh sim
+
$ ./intera.sh sim
−
$ rosrun baxter_examples joint_velocity_wobbler.py
+
$ roslaunch sawyer_gazebo sawyer_world.launch
 +
*in a new terminal*
 +
$ ./intera.sh sim
 +
$ rosrun intera_examples joint_torque_springs.py
 
</syntaxhighlight>
 
</syntaxhighlight>
−
*Start keyboard joint position example:
+
 
 +
*Or, Start Simulated Pick and Place example:
 
<syntaxhighlight lang="bash" enclose="div">
 
<syntaxhighlight lang="bash" enclose="div">
−
$ ./baxter.sh sim
+
$ ./intera.sh sim
−
$ rosrun baxter_examples joint_position_keyboard.py
+
$ roslaunch sawyer_sim_examples sawyer_pick_and_place_demo.launch
 
</syntaxhighlight>
 
</syntaxhighlight>
 +
 
For additional information on the interfaces that are implemented with this release, visit the [[API_Reference#tab=Simulator_API|Simulator API]] page.
 
For additional information on the interfaces that are implemented with this release, visit the [[API_Reference#tab=Simulator_API|Simulator API]] page.
  
 
==Troubleshooting==
 
==Troubleshooting==
−
*'''Please refer to the troubleshooting page [[Gazebo Troubleshooting]] '''
+
*'''Please refer to the troubleshooting page Gazebo Troubleshooting '''
  
 
----
 
----

Latest revision as of 16:29, 14 March 2018

This tutorial describes how to use Sawyer with Gazebo the standard Physics Simulator for ROS.

Gazebo Logo

Please visit the Gazebo Tutorials homepage for more information about the Physics simulator

Installation/Prerequisites

  • Make sure you have followed the Workstation Setup tutorial before beginning this section. Sawyer Gazebo is only available for Ubuntu 16.04, ROS Kinetic, and Gazebo 7.
  • Ensure the following software packages are installed:


$ sudo apt-get install gazebo7 ros-kinetic-qt-build ros-kinetic-gazebo-ros-control ros-kinetic-gazebo-ros-pkgs ros-kinetic-ros-control ros-kinetic-control-toolbox ros-kinetic-realtime-tools ros-kinetic-ros-controllers ros-kinetic-xacro python-wstool ros-kinetic-tf-conversions ros-kinetic-kdl-parser ros-kinetic-sns-ik-lib

Sawyer Simulator Installation

  • From your catkin workspace where the SDK resides, use wstool to install and update:

Install sawyer_simulator

$ mkdir -p ~/ros_ws/src
$ cd ~/ros_ws/src
$ git clone https://github.com/RethinkRobotics/sawyer_simulator.git
$ cd ~/ros_ws/src
$ wstool init .
$ wstool merge sawyer_simulator/sawyer_simulator.rosinstall
$ wstool update

IMPORTANT: Make sure all simulator repositories update to their proper branch.

Build Source

$ source /opt/ros/kinetic/setup.bash
$ cd ~/ros_ws
$ catkin_make

Simulation

  • The intera.sh shell has a special hook of *sim* for Simulation. Run the Intera shell script with sim specified:
$ ./intera.sh sim
  • Start simulation with controllers:
$ roslaunch sawyer_gazebo sawyer_world.launch

Smoke Test

Check if the simulator was installed and launched successfully by typing the following commands: 

$ rosnode list

This should list the nodes as here. 

$ rostopic list

This should list the topics as here. 

$ rostopic echo /robot/state

By default, the following messages should be displayed at 100 HZ. 

enabled: False
stopped: False
error: False
estop_button: 0
estop_source: 0
---

Run SDK Examples

  • Start Joint Torque Springs example:
$ ./intera.sh sim
$ roslaunch sawyer_gazebo sawyer_world.launch
*in a new terminal*
$ ./intera.sh sim
$ rosrun intera_examples joint_torque_springs.py
  • Or, Start Simulated Pick and Place example:
$ ./intera.sh sim
$ roslaunch sawyer_sim_examples sawyer_pick_and_place_demo.launch

For additional information on the interfaces that are implemented with this release, visit the Simulator API page.

Troubleshooting

  • Please refer to the troubleshooting page Gazebo Troubleshooting
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