OpenRR applications

Prepare

Install urdf-viz

cargo install urdf-viz

Install

cargo install openrr-apps

If you are Windows user, ROS is not supported. So remove it.

cargo install openrr-apps --no-default-features --features gui,assimp

Option: For UR10 sample

Install Universal Robot software.

Option: For PR2 sample

Install ros-melodic-pr2-gazebo / ros-melodic-topic-tools.

Option: Install bash completion for openrr_apps_robot_command

If you are using bash,

openrr_apps_robot_command shell_completion bash > ~/.openrr_command
source ~/.openrr_command

How to run openrr_apps_robot_command

Sample robot

• Launch urdf-viz.

urdf-viz ./openrr-planner/sample.urdf &

• Run sample commands.

openrr_apps_robot_command \
  --config-path=./openrr-apps/config/sample_robot_client_config_for_urdf_viz.toml \
  load_commands ./openrr-apps/command/sample_cmd_urdf_viz.txt

Environmental Variables

If you set export OPENRR_APPS_ROBOT_CONFIG_PATH=some_path_to_config.toml, you can skip --config-path. If you give --config-path explicitly, the env var is ignored.

• Run sample commands with env var

export OPENRR_APPS_ROBOT_CONFIG_PATH=$(pwd)/openrr-apps/config/sample_robot_client_config_for_urdf_viz.toml
openrr_apps_robot_command load_commands ./openrr-apps/command/sample_cmd_urdf_viz.txt

Do not forget to unset OPENRR_APPS_ROBOT_CONFIG_PATH before try other settings

UR10 (urdf-viz)

• Launch urdf-viz.

urdf-viz $(rospack find ur_description)/urdf/ur10_robot.urdf.xacro

• Run sample commands.

Change urdf path in the setting file for your environment.

openrr_apps_robot_command \
  --config-path=./openrr-apps/config/ur10_robot_client_config_for_urdf_viz.toml \
  load_commands ./openrr-apps/command/ur10_cmd_urdf_viz.txt

UR10 (ROS gazebo)

• Launch gazebo.

roslaunch ur_gazebo ur10.launch

• Run sample commands.

Change urdf path in the setting file for your environment.

openrr_apps_robot_command \
  --config-path=./openrr-apps/config/ur10_robot_client_config_for_ros.toml \
  load_commands ./openrr-apps/command/ur10_cmd_ros.txt

PR2 (urdf-viz)

• Launch urdf-viz.

urdf-viz $(rospack find pr2_description)/robots/pr2.urdf.xacro

• Run sample commands.

Change urdf path in the setting file for your environment.

openrr_apps_robot_command \
  --config-path=./openrr-apps/config/pr2_robot_client_config_for_urdf_viz.toml \
  load_commands ./openrr-apps/command/pr2_cmd_urdf_viz.txt

PR2 (ROS gazebo)

• Launch gazebo.

cd openrr-apps/launch/
roslaunch ./pr2.launch wait_time_secs:=10

• Run sample commands.

Change urdf path in the setting file for your environment.

openrr_apps_robot_command \
  --config-path=./openrr-apps/config/pr2_robot_client_config_for_ros.toml \
  load_commands ./openrr-apps/command/pr2_cmd_ros.txt

How to run openrr_apps_robot_teleop

Sample robot

• Launch urdf-viz.

urdf-viz ./openrr-planner/sample.urdf &

• Connect joystick.

Change below joystick settings in the setting file for your device. Default value is for 'Sony DualShock 4'.

gil_gamepad_config.device_id = 0
gil_gamepad_config.map.button_map = ...
gil_gamepad_config.map.axis_map = ...
gil_gamepad_config.map.axis_value_map = ...

• Run teleop.

openrr_apps_robot_teleop --config-path=./openrr-apps/config/sample_teleop_config_urdf_viz.toml

If you use gamepad, refer to README of openrr-teleop.

UR10 (urdf-viz)

• Launch urdf-viz.

urdf-viz $(rospack find ur_description)/urdf/ur10_robot.urdf.xacro

• Run teleop.

Change urdf path and joystick settings (see here) in the setting file for your environment.

openrr_apps_robot_teleop --config-path=./openrr-apps/config/ur10_teleop_config_urdf_viz.toml

UR10 (ROS gazebo)

• Launch gazebo.

roslaunch ur_gazebo ur10.launch

• Run teleop.

Change urdf path and joystick settings (see here) in the setting file for your environment.

openrr_apps_robot_teleop --config-path=./openrr-apps/config/ur10_teleop_config_ros.toml

PR2 (urdf-viz)

• Launch urdf-viz.

urdf-viz $(rospack find pr2_description)/robots/pr2.urdf.xacro

• Run teleop.

Change urdf path and joystick settings (see here) in the setting file for your environment.

openrr_apps_robot_teleop --config-path=./openrr-apps/config/pr2_teleop_config_urdf_viz.toml

PR2 (ROS gazebo)

• Launch gazebo.

cd openrr-apps/launch/
roslaunch ./pr2.launch wait_time_secs:=10

• Run teleop.

Change urdf path and joystick settings (see here) in the setting file for your environment.

openrr_apps_robot_teleop --config-path=./openrr-apps/config/pr2_teleop_config_ros.toml

iRobot Create

What is iRobot Create...

• Build again to feature ROS2.

cargo build --release --feature ros2

• Run teleop.

openrr_apps_robot_teleop \
  --config-path ./openrr-apps/config/irobot_create_teleop_config_ros2.toml

PrintSpeaker: base
PrintSpeaker: command dock command
PrintSpeaker: command undock command

When the dock command is executed, iRobot Create docks to the station; when the undock command is executed, the robot undocks. These are based ROS2 action and follow official description.

How to run openrr_apps_joint_position_sender

Sample robot

• Launch urdf-viz.

urdf-viz ./openrr-planner/sample.urdf &

• Launch openrr_apps_joint_position_sender.

openrr_apps_joint_position_sender \
  --config-path ./openrr-apps/config/sample_robot_client_config_for_urdf_viz.toml

Troubleshooting

See openrr-gui crate for troubleshooting on GUI.

How to run openrr_apps_velocity_sender

Sample robot

• Launch urdf-viz.

urdf-viz ./openrr-planner/sample.urdf &

• Launch openrr_apps_velocity_sender.

openrr_apps_velocity_sender \
  --config-path ./openrr-apps/config/sample_robot_client_config_for_urdf_viz.toml

iRobot Create

• Build again to feature ROS2.

cargo build --release --feature ros2

• Launch openrr_apps_velocity_sender.

openrr_apps_velocity_sender \
  --config-path ./openrr-apps/config/irobot_create_robot_client_config_ros2.toml

Environmental Variables

If you set export OPENRR_APPS_ROBOT_CONFIG_PATH=some_path_to_config.toml, you can skip --config-path. If you give --config-path explicitly, the env var is ignored.

• Run for sample urdf with env var

export OPENRR_APPS_ROBOT_CONFIG_PATH=$(pwd)/openrr-apps/config/sample_robot_client_config_for_urdf_viz.toml
openrr_apps_joint_position_sender

Do not forget to unset OPENRR_APPS_ROBOT_CONFIG_PATH before try other settings

Overwrite configuration at startup

By using --config flag, you can overwrite the configuration at startup.

For example, to replace the urdf path:

openrr_apps_robot_command \
  --config-path=./openrr-apps/config/sample_robot_client_config_for_urdf_viz.toml \
  --config='openrr_clients_config.urdf_path="path/to/urdf"' \
  load_commands ./openrr-apps/command/sample_cmd_urdf_viz.txt

In openrr_apps_robot_teleop, there are two flags: --robot-config to overwrite robot config and --teleop-config to overwrite teleop config.

For example, to run openrr_apps_robot_teleop with arci-gamepad-keyboard:

openrr_apps_robot_teleop \
  --config-path=./openrr-apps/config/sample_teleop_config_urdf_viz.toml \
  --teleop-config='gamepad="Keyboard"'

To disable joint_position_limiter:

openrr_apps_robot_teleop \
  --config-path=./openrr-apps/config/sample_teleop_config_urdf_viz.toml \
  --robot-config='urdf_viz_clients_configs[0].wrap_with_joint_position_limiter=false'

To overwrite multiple configs, separate the scripts with a semicolon or a newline. For example:

# semicolon-separated
openrr_apps_robot_teleop \
  --config-path=./openrr-apps/config/sample_teleop_config_urdf_viz.toml \
  --robot-config='urdf_viz_clients_configs[0].wrap_with_joint_position_limiter=false;openrr_clients_config.urdf_path="path/to/urdf"'

# newline-separated
{
  echo 'urdf_viz_clients_configs[0].wrap_with_joint_position_limiter=false'
  echo 'openrr_clients_config.urdf_path="path/to/urdf"'
} > overwrite.txt
openrr_apps_robot_teleop \
  --config-path=./openrr-apps/config/sample_teleop_config_urdf_viz.toml \
  --robot-config="$(cat ./overwrite.txt)"

Schemas for config files

The schema directory contains the JSON schemas for the config files used by openrr, and when combined with an extension of the editor that supports completion using the JSON schema, completion can be enabled.

Visual Studio Code

In VS Code, you can enable completion and validation by installing the Even Better TOML extension and using the evenBetterToml.schema.associations configuration object in settings.json.

For example:

{
  "evenBetterToml.schema.associations": {
    ".*robot_client_config.*\\.toml": "https://raw.githubusercontent.com/openrr/openrr/main/openrr-apps/schema/robot_config.json",
    ".*teleop_config.*\\.toml": "https://raw.githubusercontent.com/openrr/openrr/main/openrr-apps/schema/robot_teleop_config.json",
  },
}

License

Licensed under the Apache License, Version 2.0.