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 withceti-panda-gazebo-workspace
Windows 10#
Install Docker Desktop for Windows
Install Xming
Run
docker-run.bat roslaunch sample_applications sample_simple_simulation.launch
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
orgit@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
orgit@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
orgit@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
orgit@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.