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[AIRO-284] add quick demo (#92)

* add quick demo scene and script

* updated tutorials
/devin-main-fix
GitHub 4 年前
当前提交
7c09f240
共有 14 个文件被更改,包括 680 次插入23 次删除
  1. 8
      tutorials/pick_and_place/0_ros_setup.md
  2. 3
      tutorials/pick_and_place/PickAndPlaceProject/ProjectSettings/ProjectSettings.asset
  3. 14
      tutorials/pick_and_place/README.md
  4. 2
      tutorials/pick_and_place/Scripts/SourceDestinationPublisher.cs
  5. 2
      tutorials/pick_and_place/Scripts/TrajectoryPlanner.cs
  6. 5
      tutorials/pick_and_place/docker/Dockerfile
  7. 344
      tutorials/pick_and_place/PickAndPlaceProject/Assets/Scenes/DemoScene.unity
  8. 7
      tutorials/pick_and_place/PickAndPlaceProject/Assets/Scenes/DemoScene.unity.meta
  9. 8
      tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts.meta
  10. 5
      tutorials/pick_and_place/docker/tutorial
  11. 61
      tutorials/pick_and_place/quick_demo.md
  12. 233
      tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts/Demo.cs
  13. 11
      tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts/Demo.cs.meta

8
tutorials/pick_and_place/0_ros_setup.md


1. Start the newly built Docker container:
```docker
docker run -it --rm -p 10000:10000 -p 5005:5005 unity-robotics:pick-and-place
docker run -it --rm -p 10000:10000 -p 5005:5005 unity-robotics:pick-and-place /bin/bash
1. Source your ROS workspace:
```bash
source devel/setup.bash
```
The ROS workspace is now ready to accept commands!

3
tutorials/pick_and_place/PickAndPlaceProject/ProjectSettings/ProjectSettings.asset


scriptingRuntimeVersion: 1
gcIncremental: 1
gcWBarrierValidation: 0
apiCompatibilityLevelPerPlatform: {}
apiCompatibilityLevelPerPlatform:
Standalone: 3
m_RenderingPath: 1
m_MobileRenderingPath: 1
metroPackageName: Template_3D

14
tutorials/pick_and_place/README.md


This tutorial is designed such that you do not need prior experience with Unity or C# in order to follow the scene setup steps, and you do not need prior robotics experience to get started with ROS integration. The tutorial is divided into high-level phases, from basic Unity and ROS initial setup through executing a pick-and-place task.
**Want to skip the tutorial and run the full demo? Check out our [Quick Demo](quick_demo.md)**
**Table of Contents**
### Pick-and-Place Tutorial
---
## Requirements

```
---
## [Part 0: ROS Setup](0_ros_setup.md)
<img src="img/0_docker.png" width="400"/>

---
## [Part 1: Create Unity scene with imported URDF](1_urdf.md)
<img src="img/1_end.gif" width="400"/>

---
---
## [Part 3: Pick-and-Place](3_pick_and_place.md)

2
tutorials/pick_and_place/Scripts/SourceDestinationPublisher.cs


/// <summary>
///
/// </summary>
void Awake()
void Start()
{
// Get ROS connection static instance
ros = ROSConnection.instance;

2
tutorials/pick_and_place/Scripts/TrajectoryPlanner.cs


/// Find all robot joints in Awake() and add them to the jointArticulationBodies array.
/// Find left and right finger joints and assign them to their respective articulation body objects.
/// </summary>
void Awake()
void Start()
{
// Get ROS connection static instance
ros = ROSConnection.instance;

5
tutorials/pick_and_place/docker/Dockerfile


COPY ./ROS/src/ros_tcp_endpoint $ROS_WORKSPACE/src/ros_tcp_endpoint
COPY ./docker/set-up-workspace /setup.sh
COPY docker/tutorial /
RUN dos2unix /setup.sh && chmod +x /setup.sh && /setup.sh && rm /setup.sh
RUN dos2unix /tutorial /setup.sh && chmod +x /setup.sh && /setup.sh && rm /setup.sh
ENTRYPOINT ["/bin/bash"]
ENTRYPOINT ["/tutorial"]

344
tutorials/pick_and_place/PickAndPlaceProject/Assets/Scenes/DemoScene.unity


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5
tutorials/pick_and_place/docker/tutorial


#!/bin/bash
source $ROS_WORKSPACE/devel/setup.bash
echo "ROS_IP: $(hostname -i)" > $ROS_WORKSPACE/src/niryo_moveit/config/params.yaml
exec "$@"

61
tutorials/pick_and_place/quick_demo.md


# Pick-and-Place Tutorial: Quick Demo
This part uses scripts to automatically set up and run the Niryo One pick-and-place demo in the Unity Editor.
**Table of Contents**
- [Prerequisites](#prerequisites)
- [Start ROS](#start-ros)
- [Start Demo](#start-demo)
## Prerequisites
1. Clone this repo to a location on your local machine:
```bash
git clone --recurse-submodules https://github.com/Unity-Technologies/Unity-Robotics-Hub.git
```
1. Install [Docker Engine](https://docs.docker.com/engine/install/)
1. Install [Unity Hub](https://unity3d.com/get-unity/download).
1. Go to the [Unity 2020.2 Beta website](https://unity3d.com/unity/beta/2020.2.0b9) to install this project's version of Unity: **2020.2.0b9**.
## Start ROS
1. Follow the [Option A: Use Docker](0_ros_setup.md#option-a-use-docker) to start a new ROS docker container
2. Run the following command to start ROS services
```bash
roslaunch niryo_moveit part_3.launch
```
## Start Demo
1. Open Unity Hub and click the "Add" button in the top right of the "Projects" tab on Unity Hub, and navigate to and select the PickAndPlaceProject directory (`./Unity-Robotics-Hub/tutorials/pick_and_place/PickAndPlaceProject/`) to add the tutorial project to your Hub.
![](img/hub_addproject.png)
1. Click the newly added project to open it.
1. Look for the `DemoScene` in the Project browser in the Assets/Scenes directory, and double-click to open it.
1. Click the `Play` button to watch the full demo.
> Note: the planning process will take about ten seconds before the Niryo One starts to move
> Note: several game objects will be created in the Hierarchy window at runtime
>
> * **Table**: the table where the robot stands on; instantiated from the Table prefab
> * **Target**: the cube that the robot is going to pick up; instantiated from the Target prefab
> * **TargetPlacement**: the area that the target cube will be placed; instantiation of the TargetPlacement prefab
> * **niryo_one**: the Niryo One robot imported from URDF
> * **ROSConnect**: the object that operates ROS communication
> * **Publisher**: the object that publish joint configurations to the ROS network for planning
> Note: the configurations of ROS communication can be found in the Inspector window of ROSConnect object
>
> * Joint configurations are published to ROS nodes running in the Docker container (127.0.0.1:10000)
> * ROS nodes in the Docker container will be notified that Unity's IP address is 127.0.0.1:5005
### If you'd now like to follow the full tutorial to learn how to build the pick-and-place simulation from scratch, proceed to [Part 1](1_urdf.md).

233
tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts/Demo.cs


#if UNITY_EDITOR
using Microsoft.CSharp;
using RosMessageGeneration;
using RosSharp;
using RosSharp.Control;
using RosSharp.Urdf.Editor;
using System;
using System.CodeDom.Compiler;
using System.Collections.Generic;
using System.IO;
using System.Reflection;
using System.Text;
using UnityEditor;
using UnityEngine;
public class Demo : MonoBehaviour
{
public string hostIP = "127.0.0.1";
public string overrideUnityIP = "127.0.0.1";
public bool generateRosMessages = true;
public bool deleteRosMessagesAfterSimulation = true;
string prefabDirectory = "Assets/Prefabs";
string prefabSuffix = ".prefab";
string tableName = "Table";
string targetName = "Target";
string targetPlacementName = "TargetPlacement";
string cameraName = "Main Camera";
Vector3 cameraPosition = new Vector3(0, 1.4f, -0.7f);
Quaternion cameraRotation = Quaternion.Euler(new Vector3(45, 0, 0));
string urdfRelativeFilepath = "URDF/niryo_one/niryo_one.urdf";
string niryoOneName = "niryo_one";
string baseLinkName = "base_link";
float controllerStiffness = 10000;
float controllerDamping = 100;
float controllerForceLimit = 1000;
float controllerSpeed = 30;
float controllerAcceleration = 10;
string rosMessagesDirectory = "Assets/RosMessages";
string rosSrcDirectory = "../ROS/src";
string msgDirectory = "msg";
string srvDirectory = "srv";
string moveitMsgPackageName = "moveit_msgs";
string niryoMoveitPackageName = "niryo_moveit";
string robotTrajectoryMessageFileName = "RobotTrajectory.msg";
string moverServiceFileName = "MoverService.srv";
string scriptPattern = "*.cs";
string externalScriptsDirectory = "../Scripts";
string scriptsDirectory = "Assets/Scripts";
string rosConnectName = "ROSConnect";
string publisherName = "Publisher";
int hostPort = 10000;
int unityPort = 5005;
int awaitDataMaxRetries = 10;
int awaitDataSleepSeconds = 1;
string trajectoryPlannerType = "TrajectoryPlanner";
string rosServiceName = "niryo_moveit";
bool hasPublished = false;
Assembly assembly;
ROSConnection rosConnection;
void Awake()
{
EditorApplication.LockReloadAssemblies();
SetupScene();
SetupRos();
CreateTrajectoryPlannerPubliser();
}
void Update()
{
// Make sure to publish only once in the demo
if (!hasPublished)
{
dynamic publisher = GameObject.Find(publisherName).GetComponent(assembly.GetType(trajectoryPlannerType));
publisher.PublishJoints();
hasPublished = true;
}
}
void OnApplicationQuit()
{
if (deleteRosMessagesAfterSimulation)
{
Directory.Delete(rosMessagesDirectory, recursive: true);
File.Delete($"{rosMessagesDirectory}.meta");
}
EditorApplication.UnlockReloadAssemblies();
}
// Tutorial Part 1
private void SetupScene()
{
// Instantiate the table, target, and target placement
GameObject table = InstantiatePrefab(tableName);
GameObject target = InstantiatePrefab(targetName);
GameObject targetPlacement = InstantiatePrefab(targetPlacementName);
// Adjust main camera
GameObject camera = GameObject.Find(cameraName);
camera.transform.position = cameraPosition;
camera.transform.rotation = cameraRotation;
// Import Niryo One with URDF importer
string urdfFilepath = Path.Combine(Application.dataPath, urdfRelativeFilepath);
ImportRobot(urdfFilepath, ImportSettings.convexDecomposer.unity);
// Adjust robot parameters
Controller controller = GameObject.Find(niryoOneName).GetComponent<Controller>();
controller.stiffness = controllerStiffness;
controller.damping = controllerDamping;
controller.forceLimit = controllerForceLimit;
controller.speed = controllerSpeed;
controller.acceleration = controllerAcceleration;
GameObject.Find(baseLinkName).GetComponent<ArticulationBody>().immovable = true;
}
// Tutorial Part 2 without the Publisher object
private void SetupRos()
{
if (generateRosMessages)
{
// Generate ROS messages
MessageAutoGen.GenerateSingleMessage(
Path.Combine(rosSrcDirectory, moveitMsgPackageName, msgDirectory, robotTrajectoryMessageFileName),
rosMessagesDirectory, moveitMsgPackageName);
MessageAutoGen.GenerateDirectoryMessages(
Path.Combine(rosSrcDirectory, niryoMoveitPackageName, msgDirectory),
rosMessagesDirectory);
// Generate ROS services
ServiceAutoGen.GenerateSingleService(
Path.Combine(rosSrcDirectory, niryoMoveitPackageName, srvDirectory, moverServiceFileName),
rosMessagesDirectory, niryoMoveitPackageName);
}
// Recompile ROS message scripts and external scripts
List<string> scripts = new List<string>();
scripts.AddRange(Directory.GetFiles(rosMessagesDirectory, scriptPattern, SearchOption.AllDirectories));
scripts.AddRange(Directory.GetFiles(externalScriptsDirectory));
RecompileScripts(scripts.ToArray());
// Create RosConnect
GameObject rosConnect = new GameObject(rosConnectName);
rosConnection = rosConnect.AddComponent<ROSConnection>();
rosConnection.rosIPAddress = hostIP;
rosConnection.rosPort = hostPort;
rosConnection.overrideUnityIP = overrideUnityIP;
rosConnection.unityPort = unityPort;
rosConnection.awaitDataMaxRetries = awaitDataMaxRetries;
rosConnection.awaitDataSleepSeconds = awaitDataSleepSeconds;
}
private void CreateTrajectoryPlannerPubliser()
{
GameObject publisher = new GameObject(publisherName);
dynamic planner = publisher.AddComponent(assembly.GetType(trajectoryPlannerType));
planner.rosServiceName = rosServiceName;
planner.niryoOne = GameObject.Find(niryoOneName);
planner.target = GameObject.Find(targetName);
planner.targetPlacement = GameObject.Find(targetPlacementName);
}
private GameObject InstantiatePrefab(string name)
{
string filepath = Path.Combine(prefabDirectory, $"{name}{prefabSuffix}");
GameObject gameObject = Instantiate(AssetDatabase.LoadAssetAtPath<GameObject>(filepath));
gameObject.name = name;
return gameObject;
}
private void ImportRobot(string urdfFilepath, ImportSettings.convexDecomposer convexDecomposer)
{
// Import Niryo One by URDF Importer
ImportSettings settings = new ImportSettings
{
choosenAxis = ImportSettings.axisType.yAxis,
convexMethod = convexDecomposer,
};
UrdfRobotExtensions.Create(urdfFilepath, settings);
}
// Credit to https://www.codeproject.com/Tips/715891/Compiling-Csharp-Code-at-Runtime
// and https://gamedev.stackexchange.com/questions/130268/how-do-i-compile-a-c-script-at-runtime-and-attach-it-as-a-component-to-a-game-o
private void RecompileScripts(string[] filepaths)
{
CSharpCodeProvider provider = new CSharpCodeProvider();
CompilerParameters parameters = new CompilerParameters();
foreach (Assembly unityAssembly in AppDomain.CurrentDomain.GetAssemblies())
{
parameters.ReferencedAssemblies.Add(unityAssembly.Location);
}
parameters.GenerateInMemory = true;
parameters.GenerateExecutable = false;
string[] texts = new string[filepaths.Length];
for (int i = 0; i < filepaths.Length; i ++)
{
texts[i] = File.ReadAllText(filepaths[i]);
}
CompilerResults results = provider.CompileAssemblyFromSource(parameters, texts);
checkCompileErrors(results);
// Update the assembly
assembly = results.CompiledAssembly;
}
private void checkCompileErrors(CompilerResults results)
{
if (results.Errors.HasErrors)
{
StringBuilder stringBuilder = new StringBuilder();
foreach (CompilerError error in results.Errors)
{
stringBuilder.AppendLine($"Error {error.ErrorNumber} {error.ErrorText}");
}
throw new InvalidOperationException(stringBuilder.ToString());
}
}
}
#endif

11
tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts/Demo.cs.meta


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