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Installation

Prerequisites

ROS

The code can be used with ROS1 Noetic and ROS2 Humble (still under development). When switching between the different ROS versions the Building Instructions described in below have to be repeated.

Install Docker

Docker is an application that simplifies the process of managing application processes in containers. Containers let you run your applications in resource-isolated processes.

To install Docker on Ubuntu 22.04 follow the instructions here and for Ubuntu 20.04 see this.

NVIDIA Container Toolkit

If you have a Nvidia gpu, run nvidia-smi to check, you also need to install the NVIDIA Container Toolkit to use it in Docker.

Follow the instructions here.

Set up Docker Container and Build Workspace

Clone this repo including its submodules:

git clone [email protected]:tud-amr/mobile-manipulator-compliance.git --recurse-submodules

Build the Docker container:

cd docker
bash build

When asked, select the full version and your ROS version.

To open the Docker container, run bellow command in /docker:

bash run

Since we use the same image for simulation and the real robot, we also need to build the Dingo driver. To build dingo-driver run:

cd ..
cd cpp
bash build

We make use of symbolic definitions for e.g. the gravitational vector. To build them run:

cd ..
cd python/compliance_control/control/symbolics
bash compile

Build ros workspace:

cd ../../../../
cd ros
bash build

Either source workspace (<source devel/setup.bash>) or ctr+d to get out of the docker, and in the docker folder. This autonatically sources the workspace:

cd ..
cd docker
bash run

Run to test if the installation was successful.

roslaunch launcher simulation.launch

To close the simulation window, press esc when the window is selected. And enter ctrl + c in the terminal.