minchangsung0223 / alienware_install_18.04 Goto Github PK

/attached_collision_object
/camera/depth_registered/points
/collision_object
/execute_trajectory/cancel
/execute_trajectory/feedback
/execute_trajectory/goal
/execute_trajectory/result
/execute_trajectory/status
/franka_control/error_recovery/cancel
/franka_control/error_recovery/feedback
/franka_control/error_recovery/goal
/franka_control/error_recovery/result
/franka_control/error_recovery/status
/franka_gripper/grasp/cancel
/franka_gripper/grasp/feedback
/franka_gripper/grasp/goal
/franka_gripper/grasp/result
/franka_gripper/grasp/status
/franka_gripper/gripper_action/cancel
/franka_gripper/gripper_action/feedback
/franka_gripper/gripper_action/goal
/franka_gripper/gripper_action/result
/franka_gripper/gripper_action/status
/franka_gripper/homing/cancel
/franka_gripper/homing/feedback
/franka_gripper/homing/goal
/franka_gripper/homing/result
/franka_gripper/homing/status
/franka_gripper/joint_states
/franka_gripper/move/cancel
/franka_gripper/move/feedback
/franka_gripper/move/goal
/franka_gripper/move/result
/franka_gripper/move/status
/franka_gripper/stop/cancel
/franka_gripper/stop/feedback
/franka_gripper/stop/goal
/franka_gripper/stop/result
/franka_gripper/stop/status
/franka_state_controller/F_ext
/franka_state_controller/franka_states
/franka_state_controller/joint_states
/franka_state_controller/joint_states_desired
/joint_states
/joint_states_desired
/move_group/cancel
/move_group/display_contacts
/move_group/display_planned_path
/move_group/feedback
/move_group/filtered_cloud
/move_group/goal
/move_group/monitored_planning_scene
/move_group/ompl/parameter_descriptions
/move_group/ompl/parameter_updates
/move_group/plan_execution/parameter_descriptions
/move_group/plan_execution/parameter_updates
/move_group/planning_scene_monitor/parameter_descriptions
/move_group/planning_scene_monitor/parameter_updates
/move_group/result
/move_group/sense_for_plan/parameter_descriptions
/move_group/sense_for_plan/parameter_updates
/move_group/status
/move_group/trajectory_execution/parameter_descriptions
/move_group/trajectory_execution/parameter_updates
/pickup/cancel
/pickup/feedback
/pickup/goal
/pickup/result
/pickup/status
/place/cancel
/place/feedback
/place/goal
/place/result
/place/status
/planning_scene
/planning_scene_world
/position_joint_trajectory_controller/command
/position_joint_trajectory_controller/follow_joint_trajectory/cancel
/position_joint_trajectory_controller/follow_joint_trajectory/feedback
/position_joint_trajectory_controller/follow_joint_trajectory/goal
/position_joint_trajectory_controller/follow_joint_trajectory/result
/position_joint_trajectory_controller/follow_joint_trajectory/status
/position_joint_trajectory_controller/state
/recognized_object_array
/rosout
/rosout_agg
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/feedback
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update_full
/rviz_robot_4333_3154594920702153085/motionplanning_planning_scene_monitor/parameter_descriptions
/rviz_robot_4333_3154594920702153085/motionplanning_planning_scene_monitor/parameter_updates
/rviz_robot_4333_3154594920702153085/planningscene_planning_scene_monitor/parameter_descriptions
/rviz_robot_4333_3154594920702153085/planningscene_planning_scene_monitor/parameter_updates
/rviz_visual_tools
/rviz_visual_tools_gui
/tf
/tf_static
/trajectory_execution_event

1. terminator를 이용하여 여러개의 터미널 세팅

sudo apt-get install terminator
gedit ~/.config/terminator/config

4개의 분할된 터미널세팅값

[global_config]
[keybindings]
[layouts]
  [[default]]
    [[[child0]]]
      fullscreen = False
      last_active_term = 4c3448a7-9e67-4c0b-8cec-32f20ade34ba
      last_active_window = True
      maximised = False
      order = 0
      parent = ""
      position = 87:71
      size = 1194, 873
      title = sung@sung: ~
      type = Window
    [[[child1]]]
      order = 0
      parent = child0
      position = 432
      ratio = 0.498281786942
      type = VPaned
    [[[child2]]]
      order = 0
      parent = child1
      position = 594
      ratio = 0.5
      type = HPaned
    [[[child5]]]
      order = 1
      parent = child1
      position = 594
      ratio = 0.5
      type = HPaned
    [[[terminal3]]]
      order = 0
      parent = child2
      profile = default
      type = Terminal
      uuid = d79d1e73-3e8c-4ccf-bb38-d018e744b0a2
    [[[terminal4]]]
      order = 1
      parent = child2
      profile = default
      type = Terminal
      uuid = 4c3448a7-9e67-4c0b-8cec-32f20ade34ba
    [[[terminal6]]]
      order = 0
      parent = child5
      profile = default
      type = Terminal
      uuid = 25b4eafc-bbf7-4182-b72d-eed09abad176
    [[[terminal7]]]
      order = 1
      parent = child5
      profile = default
      type = Terminal
      uuid = 3b9d5f26-9996-4535-89fd-bfa7c42b4965
[plugins]
[profiles]
  [[default]]
    background_image = None

2. 각각의 환경에서 Docker 환경접속
   terminal1

     xhost +local:root
 docker  run --rm -it --gpus all --net=host -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=$DISPLAY -e QT_X11_NO_MITSHM=1 tjdalskcd/gpu_voxels:latest2 bash

terminal2

          xhost +local:root
docker exec -it CONTAINER_ID bash

terminal3

               xhost +local:root
docker exec -it CONTAINER_ID bash

terminal4

               xhost +local:root
docker exec -it CONTAINER_ID bash

3. Container 외부의 ROS환경과의 연결

terminal2

  exit
roscore

terminal1

  rviz

terminal3

rostopic list

terminal4

4. Docker 외부에서 realsense 카메라를 실행하고 Docker 내부에서 확인

terminal3

 exit
roslaunch realsense2_camera demo

terminal4

   rviz

5. Docker 외부에서 Moveit을 실행한 뒤 Docker 내부에서 topic 확인
   

6. gvl_ompl_planner build teset

conda activate ros
apt-get install ros-kinetic-ompl;
cd ~/workspace/gpu-voxels/build;
cmake ..
make -j16
cd ~/workspace/gpu-voxles/gvl_ompl_planning;
cmake .. -D icl_core_DIR=~/workspace/gpu-voxels/build/packages/icl_core/
-D gpu_voxels_DIR=~/workspace/gpu-voxels/build/packages/gpu_voxels;
make -j16

7. panda_sim test

git clone https://github.com/tjdalsckd/gpu_voxel_panda_sim

cd gpu_voxel_panda_sim
cmake . -D icl_core_DIR=/root/workspace/gpu-voxels/build/packages/icl_core/ -D gpu_voxels_DIR=/root/workspace/gpu-voxels/build/packages/gpu_voxels;

make -j16

L

apt-get install build-essential sudo apt-get install -y libudev-dev;
sudo apt-get install -y libx11-dev xorg-dev libglu1-mesa-dev freeglut3-dev libglew1.5 libglew1.5-dev libglu1-mesa libglu1-mesa-dev libgl1-mesa-glx libgl1-mesa-dev libglfw3-dev libglfw3 ;

1. 카메라 두대의 Serial Number를 확인한다.
   • 제품 하단 우측 ex) 031522070670 , 031522071096
2. Calibration 판을 준비한다.

3. python3 환경에서 calibration 코드를 실행한다.
   ./stereo-calib.py -c -bw 8 -bh 5
   ./stereo-calib.py -sc -bw 8 -bh 5

4. 터미널 창을 두개 띄우고 각각을 입력하여 ROS환경에서 카메라를 실행한다

   • terminal 1: roslaunch realsense2_camera rs_camera.launch camera:=cam_0 serial_no:=031522071096 filters:=pointcloud
   • terminal 2: roslaunch realsense2_camera rs_camera.launch camera:=cam_1 serial_no:=031522070670 filters:=pointcloud

5. 다른 터미널 창을 열고

   • terminal 3: bash config/extract

6. python2 환경의 다른 터미널 창을 열고

   • terminal 4: ./base_zf.py cam_0

7. python2 환경의 다른 터미널 창을 열고

   • terminal 5: ./send_transform.py config/trans01.xml

8. rviz를 통한 데이터 확인

   • terminal 6: rviz

기본 ROS PointCloud 연동 프로그램을 이용하여 테스트
1.Code에 첨부된 DistanceRosDemo.cpp 파일을 옮겨서 빌드

     cp DistanceRosDemo.cpp ~/workspace/gpu-voxels/packages/gpu_voxels/src/examples

     cd ~/workspace/gpu-voxels/build 
     make -j16

2. 빌드 후 실행
   -terminal 1 : cd ~/workspace/gpu-voxels/build
   ./distance_ros_demo
   -terminal 2 : cd ~/workspace/gpu-voxels/build
   ./gpu_voxels_visualizer

1. 실행 파일을 다운로드
   git clone https://github.com/tjdalsckd/gpu_voxel_panda_sim

2. build
   cd gpu_voxel_panda_sim
   cmake . -D icl_core_DIR=/workspace/gpu-voxels/build/packages/icl_core/ -D gpu_voxels_DIR=/workspace/gpu-voxels/build/packages/gpu_voxels

3. 실행
   terminal 1 : ./gvl_ompl_planner
   terminal 2 : cd ~/workspace/gpu-voxels/build/bin
   ./gpu_voxels_visualizer
   terminal 3 : cd /path_to/gpu_voxel_panda_sim/panda_pybullet
   python inverse_kinematics.py

test

Libboost

wget https://sourceforge.net/projects/boost/files/boost/1.68.0/boost_1_68_0.tar.gz tar -zxvf boost_1_68_0.tar.gz
cd boost_1_68_0
sudo bash bootstrap.sh
./b2
./b2 install

PCL1.9
sudo apt-get install libeigen3-dev
apt-get install libflann-dev
sudo apt-get install g++ cmake cmake-gui doxygen mpi-default-dev openmpi-bin openmpi-common libeigen3-dev libboost-all-dev libqhull* libusb-dev libgtest-dev git-core freeglut3-dev pkg-config build-essential libxmu-dev libxi-dev libusb-1.0-0-dev graphviz mono-complete qt-sdk libeigen3-dev sudo apt install libglew-dev
sudo apt-get install libsqlite3-0 libpcap0.8
sudo apt-get install libpcap-dev
wget https://github.com/PointCloudLibrary/pcl/archive/pcl-1.9.1.tar.gz tar xvf pcl-1.9.1.tar.gz
cd pcl-pcl-1.9.1
mkdir build
cd build
cmake ..
make -j16
make install

1. Docker 설치

curl https://get.docker.com | sh \
  && sudo systemctl --now enable docker
 
    sudo usermod -aG docker $USER # 현재 접속중인 사용자에게 권한주기
    sudo usermod -aG docker your-user # your-user 사용자에게 권한주기

distribution=$(. /etc/os-release;echo $ID$VERSION_ID) \
   && curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add - \
   && curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list

sudo apt-get update

sudo apt-get install -y nvidia-docker2

2. 배포된 image를 다운로드 하는 방법

     docker pull tjdalskcd/gpu_voxels:latest2

또는 직접 빌드하는 방법.

    wget https://raw.githubusercontent.com/tjdalsckd/Alienware_install_18.04/main/Dockerfile
    docker build -t tjdalskcd/gpu_voxels:latest2 .

image가 다운로드 된 것을 확인

   docker images

3. 실행
   terminal1:

xhost +local:root
 docker  run --rm -it --gpus all --net=host -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=$DISPLAY -e QT_X11_NO_MITSHM=1 tjdalskcd/gpu_voxels:latest2 bash

terminal2:

 docker ps

해당하는 컨테이너 아이디를 확인한 뒤 다음의 명령어를 입력.

 docker exec -it CONTAINER_ID bash

4. docker 내부
   terminal 1:

  cd ~/workspace/gpu-voxels/build/bin
  ./gpu_voxels_visualizer

terminal 2:

cd ~/workspace/gpu-voxels/build/bin
./collisions