servetoz/drl-sim2real-ros

Repository structure:

Three main modules:

1. ur5_moveit_config -> configuration for UR5 robotic arm which is using ROS's MoveIt framework.
2. sim2real_training -> Module used to provide training activites for UR5 Arm. Uses .yaml files in order to configure parameters for sim2real learning process.
3. sim2real_dashboard -> ROS Web interface. Utilizes foxglove as subrepository. Launching Dashboard one automatically activates other resources.

Installation:

1. ROS Noetic requires Ubuntu 20.04 version. In fact, the Python 3.8 is required

2. Install ROS Noetic (Variant: ros-noetic-desktop-full) following official guide

3. Install catkin tools according to guide.

4. Install ROS Bridge server and realted suite :

sudo apt-get install ros-noetic-rosbridge-server ros-noetic-rosbridge-suite ros-noetic-ur-description ros-noetic-moveit-ros-move-group ros-noetic-trac-ik-kinematics-plugin ros-noetic-moveit-planners-ompl ros-noetic-moveit-fake-controller-manager ros-noetic-moveit

5. Create new ROS workspace within your system and clone this repository:

mkdir -p ~/ros_ws/src
cd ~/ros_ws/src
git clone https://github.com/servetoz/DRL-Sim2Real-ROS.git

6. Build the ROS environment within your workspace:

cd ~/ros_ws/
source /opt/ros/noetic/setup.bash
catkin_make

Be aware of Python version, make sure it's 3.8 when building. This command ensures that catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3.8

7. Make sure that ROS environment is properly sourced with:

source ~/ros_ws/devel/setup.bash

In fact, sourcing must be done every time the shell is opened. Thus, edit .bashrc:

nano ~/.bashrc

Add two sourcing lines in the end of the file. Save it and run:

source ~/.bashrc

8. Create a symlink for python3.8 to python:

sudo ln -s /usr/bin/python3.8 /usr/bin/python

9. Install python dependencies:

cd ~/ros_ws/src/DRL-Sim2Real-ROS/sim2real_dashboard/src/dashboard
pip install -r requirements.txt

10. Launch the ROS web environment:

cd ~/ros_ws/
roslaunch sim2real_dashboard app.launch

11. Open your web browser and navigate to http://localhost:8050/ to see the dashboard.
12. If you don't see robot arm model add following URDF under 3D -> click Gear icon -> Custom Layers -> click three dots -> Add URDF -> click newly added URDF -> paste following link in the URL field:

http://localhost:8050/assets/urdf/ur5.urdf

Optional: Running ROS Server's websocket as separate process:

rosrun rosbridge_server rosbridge_websocket _port:=9090