IAAC MRAC WORKSHOP 3.2 - Drafting Deception

Installation

Download and install Unity Version 2019.4.21

This package includes ROS#, a set of open source software libraries and tools for ROS communication.

WSL2 Setup

For testing on a local windows device without a second Ubuntu machine or prior WSL/ROS install. Summary mostly from here.

Install WSL2

Run Powershell as administrator

dism.exe /online /enable-feature /featurename:Microsoft-Windows-Subsystem-Linux /all /norestart

dism.exe /online /enable-feature /featurename:VirtualMachinePlatform /all /norestart

Restart Machine, and then in powershell again:

wsl --set-default-version 2

If prompted to update kernel, follow link and download/run .msi, running above command again after.

Get and install Ubuntu 18.04 LTS via the Microsoft Store. Launch after installation, and set username and password.

For easy access of Ubuntu terminal, powershell, etc. use Windows Terminal.

Download and install [VcXsrv]https://sourceforge.net/projects/vcxsrv/files/latest/download) for gui forwarding.
Run X-Launch from the start menu, and use the default settings apart from unchecking native opengl and checking disable access control.
Save the configuration file before clicking finish to use this as a shortcut for running with these settings in the future.

Add your windows machine's ip address (replace {your_ip_address}) to your bashrc by running (in ubuntu console) (If new to this, note you need to use SHIFT+CTRL+C for pasting in Ubuntu terminal)

echo 'export DISPLAY={your_ip_address}:0.0' >> ~/.bashrc

source ~/.bashrc

export DISPLAY=$(cat /etc/resolv.conf | grep nameserver | awk '{print $2}'):0

ROS INSTALL

sudo apt update && sudo apt upgrade

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

sudo apt update && sudo apt install ros-melodic-desktop-full

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo rosdep init && rosdep update

Test install by starting roscore in one ubuntu terminal

roscore

and rviz in another

rosrun rviz rviz

Playing Rosbags

First install rosbridge server in ubuntu sudo apt-get install ros-melodic-rosbridge-server

Copy the bags directory from this repo in the windows browser into \\wsl$\Ubuntu-18.04\home\{ubuntu_username}

In separate terminals: roscore roslaunch rosbridge_server rosbridge_websocket.launch cd ~/bags && rosbag play ur_driver.bag -l

Run the unity scene and you should see the robot move a bit.

URSIM Install

Create an account and download ursim for the closest robot version.

Copy this file into your ubuntu home directory in the windows browser \\wsl$\Ubuntu-18.04\home\{ubuntu_username}

Then in ubuntu terminal run (change file and folder names if using a different usrsim version.)

Get Default JRE/JDK

sudo apt-get update && sudo apt-get install openjdk-8-jdk

Set JDK version to 1.8 (enter correct number) sudo update-alternatives --config java

cd ~
tar xvzf URSim_Linux-5.8.2.10297.tar.gz
cd ursim-5.8.2.10297
./install.sh

For me this install failed in WSL 2 and I manually installed many of the dependencies and changed the directory for shortcuts in install.sh Hopefully this is not the case for you...(steps not documented here).

run with

cd..
ursim-5.8.2.10297/start-ursim.sh UR10

Once you are able to successfully launch ursim, you need to add the URCap in:

Workshop

This unity package is developed in connection to the Drafting Deception workshop tutored by Jeffrey Anderson and Ryan Luke Johns, together with Daniil Koshelyuk and Soroush Garivani.

References

If you make use of this repository content for academic work, consider citing:

Johns R.L., Anderson J., Kilian A. (2020) Robo-Stim: Modes of Human Robot Collaboration for Design Exploration. In: Gengnagel C., Baverel O., Burry J., Ramsgaard Thomsen M., Weinzierl S. (eds) Impact: Design With All Senses. DMSB 2019. Springer, Cham. https://doi.org/10.1007/978-3-030-29829-6_52