ICT-example

Example code of Design and Implementation of Robotic Systems and Applications

Prerequisite

sudo apt install python-catkin-tools

Install

cd ~/
source /opt/ros/<ros-distro>/setup.bash
git clone --recursive https://github.com/ISCI-LAB/ICT-example.git
cd ~/ICT-example/catkin_ws
rosdep install --from-paths src --ignore-src -r -y
catkin build

Docker

Build docker container

cd ~/
git clone --recursive https://github.com/ISCI-LAB/ICT-example.git
cd ~/ICT-example/Docker/<device>/
./build.sh  # Build docker image for locobot environment
./docker_run.sh  # Run docker container with mounted folder
source ~/low_cost_ws/devel/setup.bash
cd ~/ICT-example/catkin_ws/
catkin build

Start container or open another terminal in container

./docker_join.sh

To evaluate if gpu is available for Pytorch in Docker container, run test script

cd ~/ICT-example/
python2 ./third_party/grasp_samplers/test/test_grasping.py

Quickstart

1. Launch locobot gazebo simulation program

   roslaunch locobot_control main.launch use_sim:=true ict:=true

2. Launch locobot navigation controller

   roslaunch baseline_navi navigation.launch

3. Launch grasp estimation and stage switch

   roslaunch baseline_navi bringup.launch use_sim:=true

4. Publish topic to start picking demo

   rostopic pub /locobot_motion/grasp_start std_msgs/Int32 "data: 1" --once