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Sawyer Simulation in WSL with Windows 10, ROS, and MATLAB

Install WSL2 and Ubunutu 18.04

Windows Subsystem for Linux (WSL) lets you run linux on your Windows machine.

https://docs.microsoft.com/en-us/windows/wsl/install

Install ROS Melodic and the Sawyer simulation

https://sdk.rethinkrobotics.com/intera/Gazebo_Tutorial

Install XMing on Windows

XMing is an X11 server to display the linux GUIs on Windows. The X11 server runs on Windows and handles displaying GUIs, while the programs on Linux (like Gazebo) are X11 clients. If you're using Windows 11 instead of Windows 10, you may not need to use XMing as WSL handles GUIs for you.

https://sourceforge.net/projects/xming/

Run XLaunch from XMing with the following options

  • Multiple Windows
  • Display number -1
  • Start no client
  • Native opengl
  • Disable access control

Before running any program with a GUI, run

export GAZEBO_IP=127.0.0.1
export DISPLAY=$(cat /etc/resolv.conf | grep nameserver | awk '{print $2}'):0
export LIBGL_ALWAYS_INDIRECT=0

(You can add this to .bashrc or intera.sh so it gets run automatically)

Running gazebo should open up a Gazebo window.

Run the simulation in WSL

In intera.sh, make the change your_ip = $(hostname -I | tr -d ' ')

The tr -d ' ' part removes extra whitespace

(Hardcoding the WSL IP address doesn't work because it changes every time you start WSL.)

Now if you run

./intera.sh sim
roslaunch sawyer_gazebo sawyer_world.launch

you should see a Gazebo window with Sawyer.

Controlling Sawyer from MATLAB with ROS

https://sdk.rethinkrobotics.com/intera/Arm_Joints#Joint_Control_Mode

Install Visual Studio Community 2019 C++ Compiler

This is for for compliling custom ROS messages in MATLAB. Depending on your version of MATLAB you may need to install the 2017 version instead, or upgrade MATLAB Don't forget to run mex -setup cpp in MATLAB.

https://www.mathworks.com/support/requirements/supported-compilers.html

https://www.mathworks.com/support/requirements/previous-releases.html

https://visualstudio.microsoft.com/vs/older-downloads/

Install Python 3

As documented in the links below, the version of python from the windows store won't work. I also had to run pyenv('Version','3.9') in MATLAB.

https://www.mathworks.com/content/dam/mathworks/mathworks-dot-com/support/sysreq/files/python-compatibility.pdf

https://www.mathworks.com/help/matlab/matlab_external/install-supported-python-implementation.html

Compile custom messages

In MATLAB, run rosgenmsg('./') in one folder up from intera_core_msgs. In particular, we need to compile JointCommand.msg.

https://github.com/RethinkRobotics/intera_common/tree/master/intera_core_msgs

I had to to temporarily turn off antivirus to get the compiler to work

https://techsupportwhale.com/mt-exe-general-error-c101008d-failed-to-write-the-updated-manifest-to-the-resource-of-file/

To get connect to the ROS network in WSL, you can use

[status,ip_address] = system("wsl hostname -I")
ip_address = strtrim(ip_address)
rosinit(ip_address)

Now you can send a joint message like the following, which sawyer should respond to

header:
  seq: 1938
  stamp:
    secs: 34
    nsecs: 658000000
  frame_id: ''
mode: 1
names: [right_j6, right_j5, right_j4, right_j3, right_j2, right_j1, right_j0]
position: [0.44306910945301803, 1.817598298595035, 2.7958235468001615, -1.589300730783936, 0.010672899352333655, -3.1244247205300306, 2.3654556749206463]
velocity: []
acceleration: []
effort: []