ARG-NCTU LoCoBot and PyRobot

The main lecture repo for LoCobot and Pyrobot of ARG NCTU. The repo is mainly for lectures and PR purpose.

Upon Your First Clone

Please follow these instructions carefully!!!

1. Create a ros workspace for pyrobot.

The script creates a workspace, moves the pyrobot to the workspace, git clone necessary packages and export ORBSLAM path.

cd pyrobot
source scripts/set_up_ws.sh

2. Compile Orbslam in your workspace. If you run this on a LoCoBot, Please make sure the camera is connected.

cd ~/pyrobot-ws
source docker_run.sh
(In docker)
source ~/pyrobot-ws/catkin_ws/src/scripts/set_orb_slam.sh

Similarities and Differences with the original facebookresearch Pyrobot repo

Similarities

1. Most code are exact the same as the orignial repo
2. Users and maintainers should update this repo with the original repo from time to time to include the newest features. You can use source git_upstream_pull.sh

Differences

1. We include dockerfiles and a script to launch our docker container. The docker is made according to the installation guid provided by the original repo.
2. We might include lecture content, including reading materials, hands on lab materials, demo codes.

PyRobot is a light weight, high-level interface which provides hardware independent APIs for robotic manipulation and navigation. This repository also contains the low-level stack for LoCoBot, a low cost mobile manipulator hardware platform.

• What can you do with PyRobot?
• Installation
• Getting Started
• The Team
• Citation
• License
• Future features

What can you do with PyRobot?

Installation

Installing both PyRobot and LoCoBot dependencies

• Install Ubuntu 16.04

• Download the installation script

  sudo apt update
  sudo apt-get install curl
  curl 'https://raw.githubusercontent.com/facebookresearch/pyrobot/master/robots/LoCoBot/install/locobot_install_all.sh' > locobot_install_all.sh

• Run the script to install everything (ROS, realsense driver, etc.).

If you want to use real LoCoBot robot, please run the following command: Please connect the nuc machine to a realsense camera before running the following commands.

#-t Decides the type of installation. Available Options: full or sim_only
#-p Decides the python version for pyRobot. Available Options: 2 or 3
#-l Decides the type of LoCoBot hardware platform. Available Options: cmu or interbotix
chmod +x locobot_install_all.sh
./locobot_install_all.sh -t full -p 2 -l interbotix

If you want to use simulated LoCoBot in Gazebo only, please run the following commands instead:

#-t Decides the type of installation. Available Options: full or sim_only
#-p Decides the python version for pyRobot. Available Options: 2 or 3
#-l Decides the type of LoCoBot hardware platform. Available Options: cmu or interbotix
chmod +x locobot_install_all.sh
./locobot_install_all.sh -t sim_only -p 2 -l interbotix

Note: To install Python 3 compatible PyRobot, modify -p 2 to -p 3 in the above commands.

Installing just PyRobot

• Install Ubuntu 16.04

• Install ROS kinetic

• Install PyRobot

  cd ~
  mkdir -p low_cost_ws/src
  cd ~/low_cost_ws/src
  git clone --recurse-submodules https://github.com/facebookresearch/pyrobot.git
  cd pyrobot/
  chmod +x install_pyrobot.sh
  ./install_pyrobot.sh -p 2  #For python3, modify the argumet to -p 3 

Warning: As realsense keeps updating, compatibility issues might occur if you accidentally update realsense-related packages from Software Updater in ubuntu. Therefore, we recommend you not to update any libraries related to realsense. Check the list of updates carefully when ubuntu prompts software udpates.

Getting Started

Please refer to pyrobot.org and locobot.org

The Team

Adithya Murali, Tao Chen, Dhiraj Gandhi, Kalyan Vasudev, Lerrel Pinto, Saurabh Gupta and Abhinav Gupta. We would also like to thank everyone who has helped PyRobot in any way.

Future features

We are planning several features, namely:

• Interfacing with other simulators like AI Habitat
• Gravity compensation
• PyRobot interface for UR5

Citation

@article{pyrobot2019,
  title={PyRobot: An Open-source Robotics Framework for Research and Benchmarking},
  author={Adithyavairavan Murali and Tao Chen and Kalyan Vasudev Alwala and Dhiraj Gandhi and Lerrel Pinto and Saurabh Gupta and Abhinav Gupta},
  journal={arXiv preprint arXiv:1906.08236},
  year={2019}
}

License

PyRobot is under MIT license, as found in the LICENSE file.