quori_ros

This catkin workspace contains all of the ROS packages necessary for full operation of the Quori robot platform from UPenn.

Prerequisites

The package is compatible with Ubuntu 20.04 / ROS Noetic, built with the Catkin system. Make sure you have the right environment configured. This documentation assumes you are using noetic, so replace it with kinetic if needed.

Initial Setup

1. Install Visual Studio Code through the Software Center

2. Install Github Desktop (optional, but nice to have)

sudo wget https://github.com/shiftkey/desktop/releases/download/release-3.1.1-linux1/GitHubDesktop-linux-3.1.1-linux1.deb
sudo apt-get install gdebi-core 
sudo gdebi GitHubDesktop-linux-3.1.1-linux1.deb

3. Follow the ROS Noetic Installation (http://wiki.ros.org/noetic/Installation/Ubuntu)

4. Clone Repository

mkdir quori_files
cd quori_files
git clone https://github.com/CMU-RASL/quori_ros.git
cd quori_ros
git submodule init

5. Add repository to Github Desktop (optional)

6. Install helper repositorities

sudo apt-get install ros-noetic-sound-play ros-noetic-rgbd-launch ros-noetic-libuvc-camera ros-noetic-libuvc-ros
sudo apt-get install ros-noetic-ros-control ros-noetic-ros-controllers ros-noetic-gazebo-ros-control
sudo apt-get install python3-catkin-tools ros-noetic-rqt-joint-trajectory-controller python3-catkin-tools
sudo apt-get install python3-pip libglfw3 libglfw3-dev
rosdep update
rosdep install --from-paths src --ignore-src -r -y
pip install mediapipe fastdtw scikit-learn fer moviepy tensorflow
pip install pygame gtts pyinput

7. Build the workspace

catkin config --init
catkin build
source devel/setup.bash

Set-up sound

Go to Settings in Ubuntu and make sure the output is set to Headphones and the volume is all the way up

Running on the robot + second computer

cd quori_files/quori_ros
export ROS_IP=$(hostname -I | awk '{print $1;}')
export ROS_MASTER_URI=http://quori.wifi.local.cmu.edu:11311 
export ROS_HOSTNAME=$ROS_IP
source devel/setup.bash

Running only on one machine

cd quori_files/quori_ros
export ROS_IP=localhost
export ROS_MASTER_URI=http://localhost:11311/ 
export ROS_HOSTNAME=$ROS_IP
source devel/setup.bash

Exercise Session setup

Robot

• Terminal 1 roslaunch quori_launch quori_robot_main.launch
• Terminal 2 (to record the video) rosbag record astra_ros/devices/default/color/image_color

Second Computer

• Terminal 1 (to check the camera frame) rosrun image_view image_view image:=/astra_ros/devices/default/color/image_color
• Terminal 2 rosrun quori_exercises study_session.py

General Troubleshooting

Fix the Wifi on new laptop

sudo apt update
sudo apt install git build-essential
git clone https://git.kernel.org/pub/scm/linux/kernel/git/iwlwifi/backport-iwlwifi.git
cd backport-iwlwifi/
make defconfig-iwlwifi-public
sed -i 's/CPTCFG_IWLMVM_VENDOR_CMDS=y/# CPTCFG_IWLMVM_VENDOR_CMDS is not set/' .config
make -j4
sudo make install
sudo modprobe iwlwifi

Fix the Astra Issue

export ASTRA_ROOT=/opt/AstraSDK-v2.1.1-24f74b8b15-20200426T014025Z-Ubuntu18.04-x86_64