MIN FacultyDepartment of Informatics

PR2 Introduction

Yannick Jonetzko

University of HamburgFaculty of Mathematics, Informatics and Natural SciencesDepartment of InformaticsTechnical Aspects of Multimodal Systems

February 12, 2019

OutlineTrixi configuration Work with Trixi Bring up Trixi Issues

1. Trixi configurationCapabilities and Sensors

2. Work with TrixiHow to start?Demo mode/simulationThe real RobotDocker

3. Bring up Trixi4. Issues

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Trixi - Our custom configurationTrixi configuration Work with Trixi Bring up Trixi Issues

Trixi

I Shadow HandI Kinect2I FT-SensorI ...

ProblemWe can’t just run the officialPR2 files, we need custom ones

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Capabilities and SensorsTrixi configuration Work with Trixi Bring up Trixi Issues

Trixi

CapabilitiesI 2 ArmsI Omni-directional baseI Lift-able torsoI Movable head

SensorsI Different camerasI Multiple laser scannerI Force-Torque sensorI Different tactile sensorsI Microphones (under

construction)

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Work with Trixi – How to start?Trixi configuration Work with Trixi Bring up Trixi Issues

I Get familiar with the demo mode and the sensors you want touse

I Talk to an instructed userI LasseI MichaelI Yannick

I Implement and test your code in the demo mode or insimulation

Trixi Wikigogs.crossmodal-learning.org/TAMS/tams_pr2/wiki

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Demo mode/simulationTrixi configuration Work with Trixi Bring up Trixi Issues

Setup your PC (you need a CML gogs account)I Clone the rosinstall repository

git clone https://github.com/TAMS-Group/rosinstalls.git

I Move the PR2 rosinstall to your workspacemv kinetic-pr2.rosinstall ~/<YOUR_WS>/src/.rosinstall

I Update your workspacecd ~/<YOUR_WS>/src/ && wstool update

I Build the workspace

ContributeYou may need to install some additional packages listed in theREADME.md, please append to the list if some are missing!

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Demo mode/simulationTrixi configuration Work with Trixi Bring up Trixi Issues

MoveIt demo modeI Start with

roslaunch tams_pr2_moveit_config demo.launch

I The demo mode is just a visualizationI No sensor data

Simulation:I Start with

roslaunch tams_pr2_simulation tams_pr2_simulation.launch

I Simulated sensor data

The simulation is not tested very well and might not work properly!

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The real RobotTrixi configuration Work with Trixi Bring up Trixi Issues

Base Station

ssd: ubuntu 14.04.ros-indigo

c1

ssd: ubuntu 14.04.ros-indigo

c2

overlay of c1

pr2-head

ssd: ubuntu 14.04.ros-indigo

kinect2

Shadow hand

Tilt Laser

Base Laser

realtime loop

Imu

Stereo camera

Forearm camera

Sound

microphones

FT-Sensor

Tactile-Sensor

Trixi configuration

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DockerTrixi configuration Work with Trixi Bring up Trixi Issues

What is docker?I Similar to a virtual machine, but without own kernelI Isolate applications from host OS and Hardware

I Containerization

Why do we want docker for the PR2?I An upgrade would freeze the PR2 for a whileI We may want to upgrade to 18.04 and Melodic soon

Our docker repo:gogs.crossmodal-learning.org/TAMS/pr2_docker.git

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Docker configurationTrixi configuration Work with Trixi Bring up Trixi Issues

Base Station

ssd: ubuntu 14.04ros-indigo

ssd: ubuntu 16.04ros-kinetic

c1

ssd: ubuntu 14.04ros-indigo

docker: ubuntu 16.04ros-kinetic

c2

Overlay of c1

ssd:

docker: ubuntu 16.04ros-kinetic

pr2-head

ssd: ubuntu 14.04ros-indigo

docker: ubuntu 16.04ros-kinetic

Docker configurationY. Jonetzko – PR2 Introduction 10 / 17

Docker – How to use itTrixi configuration Work with Trixi Bring up Trixi Issues

DockerfileI Construction manual for our imageI We know exactly what is installed in our image

ContainerI Running instance of imageI Container is started automatically on system startupI Not persistent, all changes are gone after restart

I Shared volumes with the host are persistentI If you want to install a package, include it in the

Dockerfile

Docker-composeI Configuration file for starting a containerI Set shared volumes, ports, hosts, etc.

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Boot Base and TrixiTrixi configuration Work with Trixi Bring up Trixi Issues

1. Boot base station2. Make sure all cables are

plugged in3. Disable the mobile run-stop4. Switch on the power strip5. Switch on power at Trixis

back

ListenThe PR2 is booting now, youshould hear 2 sound sequencesfor c1, and 2 for c2(4 rising tones each)

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Launch TrixiTrixi configuration Work with Trixi Bring up Trixi Issues

We want to run Trixi with ros-kinetic, so connect to the dockerrunning ubuntu 16.04:

I Connect to c1: ssh docker-c11. Start a roscore on c1: roscore2. Bring up Trixi:

roslaunch tams_pr2_bringup trixi.launch3. Enable the Run-Stop4. Initialize the right arm:

rosrun tams_pr2_bringup calibrate_right_arm.py

I Connect to c2: ssh docker-c25. Run the shadow hand:

roslaunch tams_motorhand hand_on_trixi.launch

I Start Rviz and dashboard with shortcuts

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WorkspacesTrixi configuration Work with Trixi Bring up Trixi Issues

One "basic" workspace including all packages needed to run Trixi,don’t develop here!I ~/ros

Each user/project gets its own workspaceI ~/<YOUR_WS>

ListenMake sure to source the basic ros workspace

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Shutdown TrixiTrixi configuration Work with Trixi Bring up Trixi Issues

We can’t shutdown Trixi from the docker currently, so we need toconnect to the host of c1:

1. Disable Run-Stop2. Connect to c1: ssh c1

I Shutdown: sudo pr2-shutdown

ListenWait for the 2 sound sequences of each c1 and c2(4 falling tones each)

3. Switch off the power on Trixis back4. Switch off the power strip

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Use Shadow Hand separatelyTrixi configuration Work with Trixi Bring up Trixi Issues

Talk to an instructed user!Shadow Hand connected to TrixiI Connect external power supplyI Run the following launch file on c2

roslaunch tams_motorhand hand.launch

Shadow Hand connected to external PCI Connect external power supplyI Connect ethernet cable of external PCI Run the following launch file

roslaunch tams_motorhand hand.launch

→ might be required to change theethernet port in launch file

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IssuesTrixi configuration Work with Trixi Bring up Trixi Issues

You find a list of issues, bugs, not working or not integrated thingshere

gogs.crossmodal-learning.org/TAMS/tams_pr2/issues

The main things that are missingI Move BaseI SimulationI Tuck armsI ...

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