wros

• ROS Noetic node examples with robot motion planners implemented in WRS.

Features

• Docker environment for ROS Noetic packages
• ROS node examples with grasp planners (Wan et al., IEEE TRO 2021)

Dependency (tested as a host machine)

• Ubuntu 22.04 PC
  • NVIDIA GeForce RTX 3070
  • NVIDIA Driver 470.256.02
  • Docker 26.1.1
  • Docker Compose 2.27.0
  • NVIDIA Docker 2.13.0

Installation

git clone [email protected]:Osaka-University-Harada-Laboratory/wros.git --recursive --depth 1 && cd wros && COMPOSE_DOCKER_CLI_BUILD=1 DOCKER_BUILDKIT=1 docker compose build --no-cache --parallel 

Usage

1. Build and run the docker environment

• Create and start docker containers in the initially opened terminal

  docker compose up

• Execute the container in another terminal

  xhost + && docker exec -it wros_noetic_container bash

2. Change planning parameters in wros_tutorials/config/XXX.yaml
3. Build program files with the revised yaml

   cd /catkin_ws && catkin build -DPYTHON_EXECUTABLE=/usr/bin/python3 && source devel/setup.bash

4. Run a planning process in the container

• Use byobu to easily command several commands

  byobu

  • First command & F2 to create a new window & Second command ...
  • Ctrl + F6 to close the selected window
• Run the grasp planner

  roslaunch wros_tutorials plan_grasp.launch config:=XXX.yaml

• Call the planning service

  rosservice call /plan_grasp

Please refer to wiki page for usage examples.

Contributors

We always welcome collaborators!

Author

Takuya Kiyokawa
Weiwei Wan
Keisuke Koyama
Kensuke Harada

License

This software is released under the MIT License, see LICENSE.