This repository comprises the code developed and integrated in 5G-DIVE project in order to implement the Digital Twin use case.
Currently, this use case uses the Niryo One robot arm and the CoppeliaSim robot simulator.
- 0.1.0beta1
- Ubuntu 16.04 (or newer version - 18.04, 20.04)
- PTPD (if you want distributed deployment between multiple hosts)
- Docker
- Docker compose
The Digital Twin service is composed of 6 different modules:
- ROS master: The ROS Master provides naming and registration services to the rest of the modules in the Digital Twin service (detailed info here).
Available
- ROS Drivers: Porvides the basic sensor and actuator functionalities of the robot arm (detailed info here).
- Robot Stack: The robot stack composed of Control, Motion Planning and Interface modules. (detailed info here).
- Digital Replica: Provides the virtual object that replicates the behavior of the Niryo One robot arm (detailed info here).
- Web interface: GUI for remote operation (detailed info here).
- Replay feature: Replays last 30 seconds of the robot remote operation in a separate virtual object. (detailed info here).
Not available
- Install fresh Ubuntu 16.04, 18.04 or 20.04 Desktop (in a VM or as native OS)
- Install Docker Engine (tutorial here)
- Install Docker Compose (tutorial here)
- Clone this git repo
- The scenarios folder is composed of different deployment options for the Digital Twin service.
The modules provided in this repository are distributed in the hope that they will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the License section for more details.
The modules provided in this repository are distributed under a license. The full license agreement can be found in the file LICENSE in this distribution. This software may not be copied, modified, sold or distributed other than expressed in the named license agreement.