OpenRR applications

Prepare

Install urdf-viz

bash cargo install urdf-viz

Install

bash cargo install openrr-apps

If you are Windows user, ROS is not supported. So remove it.

bash cargo install openrr-apps --no-default-features --features gui,assimp

Option: For UR10 sample

Install Universal Robot software.

Option: For PR2 sample

Install ros-melodic-pr2-gazebo / ros-melodic-topic-tools.

Option: Install bash completion for openrrappsrobot_command

If you are using bash,

bash openrr_apps_robot_command shell_completion bash > ~/.openrr_command source ~/.openrr_command

How to run openrrappsrobot_command

Sample robot

• Launch urdf-viz.

bash urdf-viz ./openrr-planner/sample.urdf &

• Run sample commands.

bash openrr_apps_robot_command \ --config-path=./openrr-apps/config/sample_robot_client_config_for_urdf_viz.toml \ load_commands ./openrr-apps/command/sample_cmd_urdf_viz.txt

Environmental Variables

If you set export OPENRR_APPS_ROBOT_CONFIG_PATH=some_path_to_config.toml, you can skip --config-path. If you give --config-path explicitly, the env var is ignored.

• Run sample commands with env var

bash export OPENRR_APPS_ROBOT_CONFIG_PATH=$(pwd)/openrr-apps/config/sample_robot_client_config_for_urdf_viz.toml openrr_apps_robot_command load_commands ./openrr-apps/command/sample_cmd_urdf_viz.txt

Do not forget to unset OPENRRAPPSROBOTCONFIGPATH before try other settings

UR10 (urdf-viz)

• Launch urdf-viz.

bash urdf-viz $(rospack find ur_description)/urdf/ur10_robot.urdf.xacro

• Run sample commands.

Change urdf path in the setting file for your environment.

bash openrr_apps_robot_command \ --config-path=./openrr-apps/config/ur10_robot_client_config_for_urdf_viz.toml \ load_commands ./openrr-apps/command/ur10_cmd_urdf_viz.txt

UR10 (ROS gazebo)

• Launch gazebo.

bash roslaunch ur_gazebo ur10.launch

• Run sample commands.

Change urdf path in the setting file for your environment.

bash openrr_apps_robot_command \ --config-path=./openrr-apps/config/ur10_robot_client_config_for_ros.toml \ load_commands ./openrr-apps/command/ur10_cmd_ros.txt

PR2 (urdf-viz)

• Launch urdf-viz.

bash urdf-viz $(rospack find pr2_description)/robots/pr2.urdf.xacro

• Run sample commands.

Change urdf path in the setting file for your environment.

bash openrr_apps_robot_command \ --config-path=./openrr-apps/config/pr2_robot_client_config_for_urdf_viz.toml \ load_commands ./openrr-apps/command/pr2_cmd_urdf_viz.txt

PR2 (ROS gazebo)

• Launch gazebo.

bash cd openrr-apps/launch/ roslaunch ./pr2.launch wait_time_secs:=10

• Run sample commands.

Change urdf path in the setting file for your environment.

bash openrr_apps_robot_command \ --config-path=./openrr-apps/config/pr2_robot_client_config_for_ros.toml \ load_commands ./openrr-apps/command/pr2_cmd_ros.txt

How to run openrrappsrobot_teleop

Sample robot

• Launch urdf-viz.

bash urdf-viz ./openrr-planner/sample.urdf &

• Connect joystick.

Change below joystick settings in the setting file for your device. Default value is for 'Sony DualShock 4'.

TOML gil_gamepad_config.device_id = 0 gil_gamepad_config.map.button_map = ... gil_gamepad_config.map.axis_map = ... gil_gamepad_config.map.axis_value_map = ...

• Run teleop.

bash openrr_apps_robot_teleop --config-path=./openrr-apps/config/sample_teleop_config_urdf_viz.toml

If you use gamepad, refer to README of openrr-teleop.

UR10 (urdf-viz)

• Launch urdf-viz.

bash urdf-viz $(rospack find ur_description)/urdf/ur10_robot.urdf.xacro

• Run teleop.

Change urdf path and joystick settings (see here) in the setting file for your environment.

bash openrr_apps_robot_teleop --config-path=./openrr-apps/config/ur10_teleop_config_urdf_viz.toml

UR10 (ROS gazebo)

• Launch gazebo.

bash roslaunch ur_gazebo ur10.launch

• Run teleop.

Change urdf path and joystick settings (see here) in the setting file for your environment.

bash openrr_apps_robot_teleop --config-path=./openrr-apps/config/ur10_teleop_config_ros.toml

PR2 (urdf-viz)

• Launch urdf-viz.

bash urdf-viz $(rospack find pr2_description)/robots/pr2.urdf.xacro

• Run teleop.

Change urdf path and joystick settings (see here) in the setting file for your environment.

bash openrr_apps_robot_teleop --config-path=./openrr-apps/config/pr2_teleop_config_urdf_viz.toml

PR2 (ROS gazebo)

• Launch gazebo.

bash cd openrr-apps/launch/ roslaunch ./pr2.launch wait_time_secs:=10

• Run teleop.

Change urdf path and joystick settings (see here) in the setting file for your environment.

bash openrr_apps_robot_teleop --config-path=./openrr-apps/config/pr2_teleop_config_ros.toml

iRobot Create

What is iRobot Create...

• Build again to feature ROS2.

bash cargo build --release --feature ros2

• Run teleop.

bash openrr_apps_robot_teleop \ --config-path ./openrr-apps/config/irobot_create_teleop_config_ros2.toml

bash PrintSpeaker: base PrintSpeaker: command dock command PrintSpeaker: command undock command

When the dock command is executed, iRobot Create docks to the station; when the undock command is executed, the robot undocks. These are based ROS2 action and follow official description.

How to run openrrappsjointpositionsender

Sample robot

• Launch urdf-viz.

bash urdf-viz ./openrr-planner/sample.urdf &

• Launch openrrappsjointpositionsender.

bash openrr_apps_joint_position_sender \ --config-path ./openrr-apps/config/sample_robot_client_config_for_urdf_viz.toml

Troubleshooting

See openrr-gui crate for troubleshooting on GUI.

How to run openrrappsvelocity_sender

Sample robot

• Launch urdf-viz.

bash urdf-viz ./openrr-planner/sample.urdf &

• Launch openrrappsvelocity_sender.

bash openrr_apps_velocity_sender \ --config-path ./openrr-apps/config/sample_robot_client_config_for_urdf_viz.toml

iRobot Create

• Build again to feature ROS2.

bash cargo build --release --feature ros2

• Launch openrrappsvelocity_sender.

bash openrr_apps_velocity_sender \ --config-path ./openrr-apps/config/irobot_create_robot_client_config_ros2.toml

Environmental Variables

If you set export OPENRR_APPS_ROBOT_CONFIG_PATH=some_path_to_config.toml, you can skip --config-path. If you give --config-path explicitly, the env var is ignored.

• Run for sample urdf with env var

bash export OPENRR_APPS_ROBOT_CONFIG_PATH=$(pwd)/openrr-apps/config/sample_robot_client_config_for_urdf_viz.toml openrr_apps_joint_position_sender

Do not forget to unset OPENRRAPPSROBOTCONFIGPATH before try other settings

Overwrite configuration at startup

By using --config flag, you can overwrite the configuration at startup.

For example, to replace the urdf path:

bash openrr_apps_robot_command \ --config-path=./openrr-apps/config/sample_robot_client_config_for_urdf_viz.toml \ --config='openrr_clients_config.urdf_path="path/to/urdf"' \ load_commands ./openrr-apps/command/sample_cmd_urdf_viz.txt

In openrr_apps_robot_teleop, there are two flags: --robot-config to overwrite robot config and --teleop-config to overwrite teleop config.

For example, to run openrr_apps_robot_teleop with arci-gamepad-keyboard:

bash openrr_apps_robot_teleop \ --config-path=./openrr-apps/config/sample_teleop_config_urdf_viz.toml \ --teleop-config='gamepad="Keyboard"'

To disable jointpositionlimiter:

bash openrr_apps_robot_teleop \ --config-path=./openrr-apps/config/sample_teleop_config_urdf_viz.toml \ --robot-config='urdf_viz_clients_configs[0].wrap_with_joint_position_limiter=false'

To overwrite multiple configs, separate the scripts with a semicolon or a newline. For example:

```bash

semicolon-separated

openrrappsrobotteleop \ --config-path=./openrr-apps/config/sampleteleopconfigurdfviz.toml \ --robot-config='urdfvizclientsconfigs[0].wrapwithjointpositionlimiter=false;openrrclientsconfig.urdf_path="path/to/urdf"'

newline-separated

{ echo 'urdfvizclientsconfigs[0].wrapwithjointpositionlimiter=false' echo 'openrrclientsconfig.urdfpath="path/to/urdf"' } > overwrite.txt openrrappsrobotteleop \ --config-path=./openrr-apps/config/sampleteleopconfigurdf_viz.toml \ --robot-config="$(cat ./overwrite.txt)" ```

Schemas for config files

The schema directory contains the JSON schemas for the config files used by openrr, and when combined with an extension of the editor that supports completion using the JSON schema, completion can be enabled.

Visual Studio Code

In VS Code, you can enable completion and validation by installing the [Even Better TOML] extension and using the evenBetterToml.schema.associations configuration object in settings.json.

For example:

json { "evenBetterToml.schema.associations": { ".*robot_client_config.*\\.toml": "https://raw.githubusercontent.com/openrr/openrr/main/openrr-apps/schema/robot_config.json", ".*teleop_config.*\\.toml": "https://raw.githubusercontent.com/openrr/openrr/main/openrr-apps/schema/robot_teleop_config.json", }, }

License

Licensed under the Apache License, Version 2.0.