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Introduction

This repository is the development workspace for the WRS Simulator at Hibikino-Musashi@Home.

It contains the source code that won 2nd place at RoboCup 2021 Worldwide and 1st place at RoboCup Asia-Pacific 2021.

It also contains a part of the 1st place source code at the World Robot Summit 2020 Partner Robot Challenge (Real Space).

Test environment

This workspace was tested on Ubuntu 18.04, ROS Melodic, RTX 3090, CUDA 11.2, and cuDNN 8.

Execution video

Installation

Please perform the docker installation described in the WRS Simulator in advance.

Clone repository

$ mkdir -p ~/ros_ws/hma && cd ~/ros_ws/hma
$ git clone --recursive https://github.com/Hibikino-Musashi-Home/hma_wrs_sim_ws.git

Download weights for object recognition

$ cd ~/ros_ws/hma/hma_wrs_sim_ws
$ sh get-weights.sh

Build docker

$ cd ~/ros_ws/hma/hma_wrs_sim_ws
$ docker build . -t hma_wrs_sim_ws

Usage

1. Starting the simulator

i. with GPU

$ DISPLAY=:0 xhost si:localuser:root
$ cd ~/ros_ws/hma/hma_wrs_sim_ws/src/04_sim_docker/hsrb_robocup_dspl_docker
$ docker-compose -f docker-compose.nvidia.yml up

ii. without GPU

$ DISPLAY=:0 xhost si:localuser:root
$ cd ~/ros_ws/hma/hma_wrs_sim_ws/src/04_sim_docker/hsrb_robocup_dspl_docker
$ docker-compose -f docker-compose.yml up

After starting the simulator, access to http://localhost:3000/ and press the Start button (▷) on the simulator.

2. Executing the program with docker

Start a new terminal and execute the following commands.

$ cd ~/ros_ws/hma/hma_wrs_sim_ws/src/04_sim_docker/hsrb_robocup_dspl_docker/ && source set-rosmaster.sh
$ cd ~/ros_ws/hma/hma_wrs_sim_ws
$ sh docker-run.sh
$ source /opt/ros/melodic/setup.bash && cd ~/ros_ws/hma/hma_wrs_sim_ws && catkin build
$ source ~/ros_ws/hma/cv_bridge_ws/install/setup.bash --extend && source ~/ros_ws/hma/hma_wrs_sim_ws/devel/setup.bash
$ sh ~/ros_ws/hma/hma_wrs_sim_ws/scripts/exec_all.sh

Notes

  • Changing the source code placed in ~/ros_ws/hma/hma_wrs_sim_ws/src on the host computer also changes the source code in the docker container.

  • If you exit from a docker container by typing ctrl + p, ctrl + q, you can re-enter the container with $ docker attach [container id]. The container id can check using $ docker ps.

License

This software is released under the BSD 3-Clause Clear License, see LICENSE.