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As one of the three main components of RoCS, the server acts as a conduit between the lower computer and upper computer. To establish the RoCS environment to control robot, you'll need to start by installing the server. Following that, you can proceed to install either the SDK or the Control APP, depending on your requirements for interacting with the server and controlling the robot.
For the use of Client SDK to control robot after installing server, please refer to SDK setup section in SDK.
For the usage of Control APP, please refer to Remote Control APP Developer Guide
We have encapsulated 5 deb installation packages for the RoCS robot control system, which are:
rocs-libs It is a library that the RoCS system depends on and contains all the environment dependencies required for runtime.
rocs-svr essentially serves as the bridge between the upper computer and the lower computer. It is automatially started as a service during booting. It handles commands originating from the upper computer, which can be a Control APP user interface or SDK control programs. Its primary function is to process these commands and transmit control instructions to the lower computer using underlying communication protocols. This intricate communication mechanism enables the achievement of precise control over the robot's movements.
rocs-wifi is a crucial component in the RoCS system, responsible for managing and configuring the robot's Wi-Fi connection, including configuring and activating Wi-Fi functionalities. Through this component, it ensures a seamless connection to the Wi-Fi network where the robot is located. It is automatially started as a service during booting.
rocs-webots is a simulation environment based on Webots, an open source robot simulation application from Cyberbotics. Before interacting with a robot directly, we strongly recommend that you first experience it in a Webots simulation environment to become familiar with its operation and use. The simulation environment faithfully replicates the robot's kinematic characteristics and structure, making it an important preliminary step. This package is only installed for simulated environments
rocs-control is the core component of the RoCS system, and we provide a binary file that operates within the '~/RoCS' directory of the embedded robot computer. If you need to fine-tune and customize configuration settings, which may include PID, mass, filtering, and other parameters of the robot, you can achieve this by manually editing the configuration file. This approach allows for precise control of the robot's behavior.
Before proceeding with the RoCS Server installation, ensure that your system meets the following requirements:
- A PC with a minimum dual-core CPU clock speed of 2 GHz and 2 GB of RAM.
- Operating system: Ubuntu(amd64) Long Term Support (LTS) releases, including versions 22.04 and 20.04.
- An NVIDIA or AMD OpenGL-capable graphics adapter with a minimum version of 3.3 and at least 512 MB of RAM.
For the robot control system, we provide two sets of quick installation scripts for runtime environments and binary files, respectively:
-
Simulation environment (based on webots)
curl -o- https://raw.githubusercontent.com/FFTAI/rocs_server/main/install-simulated.sh | bash -
Physics-based robot (GR-1)
curl -o- https://raw.githubusercontent.com/FFTAI/rocs_server/main/install-physical.sh | bash
To confirm the successful installation of RoCS server packages, open a terminal and run the following command to check if RoCS-related packages are installed:
fftai@fftai-rocs-machine:~$ dpkg -l | grep rocs
ii rocs-lib 1.0 all Installs the libraries required by RoCS
ii rocs-svr 1.3 all Provides export call services for robot algorithm programs
ii rocs-webots 1.3 all Provides a Webots simulation environment modelfftai@gr123ot0001:~$ dpkg -l | grep rocs
ii rocs-lib 1.0 all Installs the libraries required by RoCS
ii rocs-svr 1.3 all Provides export call services for robot algorithm programs
ii rocs-wifi 1.0 all
ii rocs-control 1.4 all In certain situations, you may need to manually start or stop RoCS services. Follow the instructions below to perform these actions:
- Manual start the
rocs-svrservice:
sudo systemctl start rocs_svr.service- Manual stop
rocs-svrservice:
sudo systemctl stop rocs-svr.serviceTo monitor the logs of RoCS services for troubleshooting or debugging purposes, follow these steps:
- Monitor the log of
rocs-svr:
tail -f /var/log/syslog | grep rocs!> Userful Tip: Open a terminal and run the command tail -f /var/log/syslog | grep rocs to monitor the server log in real time. Keeping the terminal window always on top can provide a convenient way to stay updated.
-
Execute script for quick installation
wget https://github.com/cyberbotics/webots/releases/download/R2023b/webots_2023b_amd64.deb sudo dpkg -i webots_2023b_amd64.deb
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Or you can visit the Cyberbotics official website to download your preferred desktop distribution.
- Open a terminal and run the
webotscommand to start Webots GUI interface. file->open world->～/RoCS/webots/worlds/SonnyV4.wbt
- Install the client SDK of the corresponding language: Python or JavaScript/TypeScript.
- You can see the corresponding sample code on the SDK introduction page and control it through the SDK sample code.
Based on the real machine operation of the physical robot, several startup items will be created after the quick installation script is successfully run. You only need to ensure that the robot is started correctly and then powered on. In contrast, through the SDK or Android Apk control program we provide - Fourier GR1 Start your robotics experience!