Merge pull request #30 from ethz-asl/multi-machine-setup

Multi machine setup

moma_demos/fetch_demo/README.md

@@ -0,0 +1,42 @@
+
+# Fetch Demo
+
+## Launching the demo on the multi-machine setup
+
+### As a single launch file
+
+On the machine used for the user interface, run the following command to distribute the nodes.
+
+```bash
+roslaunch fetch_demo single_command.launch
+```
+
+### Via SSH
+
+There is one launch file for each machine in the setup. They can all be launch from the user interface laptop via SSH as follows.
+
+Navigation nodes on ridgeback machine:
+
+```bash
+ssh asl-admin@asl-ridgeback "source /home/asl-admin/catkin_ws/devel/setup.zsh && roslaunch fetch_demo navigation.launch"
+```
+
+Manipulation nodes on YuMi machine:
+
+```bash
+ssh asl-admin@asl-yumi "source /home/asl-admin/catkin_ws/devel/setup.zsh && roslaunch fetch_demo manipulation.launch"
+```
+
+Perception nodes on moma-laptop:
+
+```bash
+ssh asl-admin@moma-laptop "source /home/asl-admin/catkin_ws/devel/setup.zsh && roslaunch fetch_demo perception.launch"
+```
+
+On local user interface machine:
+
+```bash
+roslaunch fetch_demo user_interface.launch
+```
+
+Each of these commands is blocking, they should be run in separate terminals.

moma_demos/fetch_demo/launch/fetch_demo.launch → moma_demos/fetch_demo/launch/manipulation.launch

@@ -1,14 +1,6 @@
 <?xml version="1.0" ?>
 <launch>
-    <arg name="launch_rviz" default="true" />
-    <arg name="map_file" default="TODO"/>
-
-    <!-- Rigeback navigation -->
-    <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />
-    <include file="$(find ridgeback_navigation)/launch/include/amcl.launch" />
-    <include file="$(find ridgeback_navigation)/launch/include/move_base.launch" />
-
-    <!-- Read waypoints for approach action -->
+    <!-- Read waypoints for search action -->
     <rosparam command="load" file="$(find fetch_demo)/config/search_waypoints.yaml" />
 
     <!-- Load map onto map server -->
@@ -30,15 +22,4 @@
     <node pkg="fetch_demo" type="search_node.py" name="search_action_node" output="screen"/>
     <node pkg="fetch_demo" type="approach_node.py" name="approach_action_node" output="screen"/>
     <node pkg="fetch_demo" type="drop_move_node.py" name="drop_action_node" output="screen"/>
-
-    <!-- Launch support nodes -->
-    <node pkg="fetch_demo" type="navigation_node.py" name="navigation_action_node" output="screen"/>
-    <node pkg="fetch_demo" type="object_detection_node.py" name="object_detection_node" output="screen"/>
-
-    <!-- Launch the execution system -->
-    <node pkg="fetch_demo" type="run_sequentially.py" name="commander_node" output="screen"/>
-
-    <!-- Launch RViz -->
-    <node if="$(arg launch_rviz)" type="rviz" name="rviz" pkg="rviz" args="-d $(find grasp_demo)/config/rviz.rviz"/>
-
 </launch>

moma_demos/fetch_demo/launch/navigation.launch

@@ -0,0 +1,14 @@
+<?xml version="1.0" ?>
+<launch>
+  <arg name="map_file" default="TODO"/>
+
+  <!-- Rigeback navigation -->
+  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />
+
+  <include file="$(find ridgeback_navigation)/launch/include/amcl.launch" />
+  <!-- TODO: AMCL is a localization system. Check if we still need this when using Maplab. -->
+
+  <include file="$(find ridgeback_navigation)/launch/include/move_base.launch" />
+  <!-- TODO The parameters loaded in these launch files do not necessarily fit our map and setup in general.
+        Might need to define our own parameter files. -->
+</launch>

moma_demos/fetch_demo/launch/perception.launch

@@ -0,0 +1,7 @@
+<?xml version="1.0" ?>
+<launch>
+  <!-- Object detection -->
+  <node pkg="fetch_demo" type="object_detection_node.py" name="object_detection_node" output="screen"/>
+
+  <!-- TODO: launch Voxblox++ here -->
+</launch>

moma_demos/fetch_demo/launch/single_command.launch

@@ -0,0 +1,20 @@
+<?xml version="1.0" ?>
+<launch>
+
+  <include file="$(find fetch_demo)/launch/user_interface.launch"/>
+
+  <group>
+    <machine name="maniplation_machine" address="asl-yumi" default="true"/>
+    <include file="$(find fetch_demo)/launch/manipulation.launch"/>
+  </group>
+
+  <group>
+    <machine name="perception_machine" address="moma-laptop" default="true"/>
+    <include file="$(find fetch_demo)/launch/perception.launch"/>
+  </group>
+
+  <group>
+    <machine name="navigation_machine" address="asl-ridgeback" default="true"/>
+    <include file="$(find fetch_demo)/launch/navigation.launch"/>
+  </group>
+</launch>

moma_demos/fetch_demo/launch/user_interface.launch

@@ -0,0 +1,10 @@
+<?xml version="1.0" ?>
+<launch>
+    <arg name="launch_rviz" default="true" />
+
+    <!-- Launch the execution system -->
+    <node pkg="fetch_demo" type="run_sequentially.py" name="commander_node" output="screen"/>
+
+    <!-- Launch RViz -->
+    <node if="$(arg launch_rviz)" type="rviz" name="rviz" pkg="rviz" args="-d $(find grasp_demo)/config/rviz.rviz"/>
+</launch>