Simulation Workspace Setup#

Important

  • The state outside of the master branch must be considered as “work-in-progress”. Only the master branch is stable here.

  • Currently, only very simple use cases are contained here. We will gradually update the code. Watch this space!

  • Please follow the instructions of the closely and keep in mind, that there are dependencies between the provided packages.

Running the Examples using Docker#

To quickly run the graphical example applications, you can use Docker. For development purposes, please use the regular installation instructions further below in this document. Please note that the setup for Windows and Mac OS systems uses X11 forwarding and thus offers limited graphics performance.

  • Clone this repo and its submodules

    • as a guest: git clone --recurse-submodules https://git-st.inf.tu-dresden.de/ceti/ros/ccf/ccf_workspace.git panda_gazebo_workspace

    • as a project member with a registered ssh key: git clone --recurse-submodules git@git-st.inf.tu-dresden.de:ceti/ros/ccf/ccf_workspace.git panda_gazebo_workspace

  • Follow the steps for your operating system.

Linux#

  • Install Docker for your linux distribution

  • Run ./docker-run.sh roslaunch sample_applications sample_simple_simulation.launch to build and run a docker image tagged with ceti-panda-gazebo-workspace

Windows 10#

Mac OS#

  • Install Docker Destop for Mac OS

  • Install XQuartz. Enable the Allow connections from network clients setting in the preferences (Security Tab).

  • Run docker-run-mac.sh roslaunch sample_applications sample_simple_simulation.launch

Requirements for development#

  • Ubuntu 20.04

  • ROS Noetic

Installation#

There are two ways to install, using git submodules or by cloning the required ros packages individually.

Either clone this repo and its submodules (recommended for fresh installations):

  • as a guest: git clone --recurse-submodules https://git-st.inf.tu-dresden.de/ceti/ros/ccf/ccf_workspace.git

  • as a project member with a registered ssh key: git clone --recurse-submodules git@git-st.inf.tu-dresden.de:ceti/ros/ccf/ccf_workspace.git panda_gazebo_workspace

  • change into the workspace cd panda_gazebo_workspace

Or clone the provided packages individually (recommended for existing ROS workspaces or if you do not understand or like submodules)

  • if you do not have a catkin workspace yet, create one mkdir -p panda_gazebo_workspace/src

  • change into a src directory of a catkin workspace, e.g. with cd panda_gazebo_workspace/src

  • clone the four provided packages into the src directory (use https if you are not registered or do not have configured an ssh key yet)

  • git clone https://git-st.inf.tu-dresden.de/ceti/ros/packages/franka_description.git or git@git-st.inf.tu-dresden.de:ceti/ros/packages/franka_description.git

  • git clone https://git-st.inf.tu-dresden.de/ceti/ros/packages/panda_moveit_config.git or git@git-st.inf.tu-dresden.de:ceti/ros/packages/panda_moveit_config.git

  • git clone https://git-st.inf.tu-dresden.de/ceti/ros/packages/panda_simulation.git or git@git-st.inf.tu-dresden.de:ceti/ros/packages/panda_simulation.git

  • https://git-st.inf.tu-dresden.de/ceti/ros/packages/sample_applications.git or git@git-st.inf.tu-dresden.de:ceti/ros/packages/sample_applications.git

  • change into the workspace main directory cd ..

  • install ROS package dependencies rosdep install --from-paths .

  • build the workspace catkin build

  • source the config: depending on your shell

    • source devel/setup.bash (default)

    • source devel/setup.sh

    • source devel/setup.zsh

Simulations#

The next page contains information on how to run example simulations.