This repository contains the ROSI robot simulator implemented in CoppeliaSim® in a ROS package format.
The model is fully operational, providing divers actuators and sensors integrated to the ROS framework. There is also an industrial yard simulation scene for implementation testing in representative scenario.
ROSI is a Instituto Tecnológico Vale project in partnership with GSCAR group (COPPE/UFRJ).
The content here may be beneficial for robotics classes and also your research. Feel free to use/modify it for spreading Knowledge in your classes! :)
This repository is structured as a ROS package. The folders organization is as follows:
-
config- Contains the .yaml file with simulation parameters. You may change them accordingly to your needs.¹ -
coppeliaSim_content- Contains ROSI model and scenes for CoppeliaSim® simulator. -
launch- Contains ROS launch files example. -
msg- Message files needed to interact with the Rosi simulated model. -
script- Example nodes in Python for interacting with the simulated model. -
urdf- Contains ROSI URDF model description. -
vrep_content- Contains the simulation scenes for the challenge. You may load them inside V-REP simulator.
Notes:
1-Parameters in simulation_parameters.yaml only take effect if you call the load_parameters.launch launch file prior pressing play in the simulation.
This installation steps considers that you are running a Ubuntu 18.04.5 LTS (Bionic Beaver) OS with ROS Melodic
full-desktop install and CoppeliaSim® 4.1.0 (rev 1) Edu. It might work in another software versions though.
Also, we consider that you are current with Linux and ROS basics.
Links for installing Ubuntu, ROS Melodic. We explaing how to configure CoppeliaSim® later in this text.
Section notes: 1-No, never tried it on Windows machines. Good luck with that. :P
By covention on this installation steps, all boxes starting with a $ mark means that you should run the command on a Linux terminal.
As an example:
$ sudo apt update
The above line means that you should run the command sudo apt update on your terminal.
Notice that the $ stands for a terminal command input and do not belongs to the command line syntax itself.
If you want to directly copy and paste this README.md commands on the terminal, remember that you should not copy the $ mark, and the keyboard shortcut to paste on the terminal is CTRL + SHIFT + V.
Also, this symbol <> states for absolute path.
You have to replace it for the required component path.
For instance, if we write <catkin_ws> referring to the ROS workspace folder, you replace this stretch by /home/your_user/wherever_you_put_your_workspace/catkin_ws/.
Easy, right?
The common issues for each step are directly addressed in a Troubleshooting remark on the end of the specific step instructions.
Follow the steps below to configure your ROSI simulator to operate along with ROS:
1. Install some ROS support packages and required Python 3.8:
$ sudo add-apt-repository ppa:deadsnakes/ppa
$ sudo apt install python-catkin-tools xsltproc ros-$ROS_DISTRO-brics-actuator ros-$ROS_DISTRO-tf2-sensor-msgs ros-$ROS_DISTRO-joy ros-$ROS_DISTRO-joint-state-publisher xsltproc python3.8 python3-pip
$ sudo python3 -m pip install xmlschema
2. With the python-catkin-tools package, we have just installed a new tool for compiling ROS packages: catkin build¹.
If you use catkin_make tool, we first have to delete current compiled files within <catkin_ws> folder, and then recompile
it using the new tool.
$ cd <catkin_ws>
$ catkin clean
$ caktin build
Note: We need catkin build for properly building the CoppeliaSim® ROS Interface.
3. Download CoppeliaSim® 4.1.0 (rev 1) Edu from the Coppelia Robotics website.
4. Unzip CoppeliaSim®, put it in a convenient folder, and rename it as coppelia_sim, for simplicity.
5. Clone and download this repository package to <catkin_ws>/src/ folder with the name sim_rosi:
$ git clone https://github.com/filRocha/sim_rosi
6. Add the following lines to your .bashrc. For opening the .bashrc file, run $ nano ~/.bashrc
export ROS_CATKIN_WS='<catkin_ws>'
export COPPELIASIM_ROOT_DIR='<coppelia_sim>'
source $ROS_CATKIN_WS/devel/setup.bash
alias coppelia_sim=$COPPELIASIM_ROOT_DIR/coppeliaSim.sh
An then, reload your terminal environment with $ source ~/.bashrc.
Note 1: Remember to replace the path to your CATKIN_WS and CoppeliaSim® folder in this command.
Note 2: All instructions consider that you use bash. If you use .zsh, you probably know what to do ;)
7. To test CoppeliaSim®, open a new terminal and run $ coppelia_sim.
You may close it if everything went alright.
Note: You have created this command on the last step using the alias command on your .bashrc. ;)
Troubleshooting 1: If you receive an error like bash: <some_folder>/ccoppeliaSim.sh: No such file or directory,
check if the path is correctly set in your .bashrc.
Troubleshooting 2: When starting, CoppeliaSim® prints its initialization steps on terminal. If it crashes while starting, try finding some clues there.
8. Update your CoppeliaSim® libPlugin folder
$ cd <coppelia_sim>/programming/
$ rm -rf ./libPlugin
% git clone https://github.com/CoppeliaRobotics/libPlugin
9. Clone recursively the CoppeliaSim®/ROS interface and CoppeliaSim Velodyne2Ros plugin to <catkin_ws>/src/:
$ cd <catkin_ws>/src
$ git clone --recursive https://github.com/CoppeliaRobotics/simExtROSInterface.git sim_ros_interface
$ git clone https://github.com/ITVRoC/coppeliasim_plugin_velodyne.git
and checkout the CoppeliaSim®/ROS interface to Melodic branch
$ cd <catkin_ws>/src/sim_ros_interface/
$ git checkout melodic
Now compile the workspace with $ catkin build.
Note: take some time to browse those repositories and credit their authors. :)
Troubleshooting: If you have a CMake version problem, there is a special session describing how to fix it by the
end of this installation steps.
10. Now we reference sim_rosi custom messages in the sim_ros_interface so the CoppeliaSim® can recognize those messages
while communicating with ROS. To do so:
10.1 Insert their namespace and names in <sim_ros_interface>/meta/messages.txt file:
$ echo -e "sim_rosi/HokuyoReading\nsim_rosi/ManipulatorJoints\nsim_rosi/RosiMovement\nsim_rosi/RosiMovementArray" >> $ROS_CATKIN_WS/src/sim_ros_interface/meta/messages.txt
Now, inform to the sim_ros_interface package that it depends on the sim_rosi package.
10.2 Open the file <sim_ros_interface>/package.xml file and add
<depend>sim_rosi</depend>
after the last <depend> xxx </depend> statement.
10.3 Open <sim_ros_interface>/CMakeLists.txt and add to the proper place:
set(PKG_DEPS
... (many many other packages)
sim_rosi
)
10.4 Compile again your ROS workspace <catkin_ws>
$ catkin build
11. If everything went ok, copy generated libraries¹ to your CoppeliaSim folder:
$ cp $ROS_CATKIN_WS/devel/lib/libsimExtROSInterface.so $COPPELIASIM_ROOT_DIR
$ cp $ROS_CATKIN_WS/devel/lib/libv_repExtRosVelodyne.so $COPPELIASIM_ROOT_DIR
Note: This specific step should be done everytime you add new custom messages to the CoppeliaSim® ROS interface.
12. Everything should be set up now. To run the simulation, you have to first start ROSCORE and later open the simulator:
$ roscore
$ coppelia_sim
Open the scene <rosi_defy>/vrep_content/challenge_scenario.ttt in V-REP and play it. You should be able to see the simulator topics being published with rostopic list.
Additionally, if you have a joystick, you can run the rosi_joy.py example node to see how the communication with the robot works.
NOTICE that you have to run the roscore ALWAYS before vrep in order to work. If you stop ROS master, you have to close V-REP and run it all again.
If you have CMake version problem when trying to compile the CoppeliaSim®/ROS Interface sim_ros_interface, try the following:
-
Check your CMake version with
$ cmake --version. You'll need version>=3.16. -
Go to this link and download the latest version (or any version
>=3.16).shfile. For instance, considering version3.19.3, the file name iscmake-3.19.4-Linux-x86_64.sh. We'll use this file name from now on. -
Move this binary file to
/opt/. When in its downloaded folder, run$ sudo mv ./cmake-3.19.4-Linux-x86_64.sh /opt/. -
Navigate to
/opt:$ cd /opt/. -
Make the binary executable with
$ sudo chmod +x ./cmake-3.19.4-Linux-x86_64.sh. -
Run it with
$ sudo bash ./cmake-3.19.4-Linux-x86_64.sh. You may have to pressYestwice. -
Create symbolic links for CMake with
$ sudo ln -s /opt/cmake-3.19.4-Linux-x86_64/bin/* /usr/local/bin. -
Test the installation by running again
$ cmake --version.
To first run your simulator, do the following:
1. Open a new terminal and run $ roscore to enable ROSMASTER. You always have to run the ROS master before CoppeliaSim® (at least if you want things to work properly.)
2. In another terminal window, run $ coppelia_sim (this should work if you have created successfully CoppeliaSim® alias on .bashrc.)
In the negative case, run it directly using $ <coppelia_sim_folder>/coppeliaSim.sh.
- TODO adequar o nome do arquivo a ser aberto
3. Go to
File > Open Scene...and locate the CoppeliaSim® scenario in<sim_rosi>/coppeliaSim_content/challenge_scenario.ttt. You have also available the ROSI model that can be directly loaded in another scenario. It can be also found in the CoppeliaSim® model browser (simulator's left side column).
4. Start the simulation by going to Simulation > Start simulation (or just press the play button.) At this point, you should be able to see all ROSI topics appearing in the ROS framework.
5. You may find ROS node examples in <sim_rosi>/script/.
The simulation may run slow due to its complexity and amount of running modules in parallel.
We encourage turning off functionalities that you do not need in your experiments.
For that, you can tweak some parameters in the <sim_rosi>/config/simulation_parameters.yaml file.
Parameters are loaded when you call the <sim_rosi>/launch/load_parameters.launch prior running the simulation.
The following flags are available:
-
TODO confirmar os parametros de simulacao
-
simulation_rendering-Boolean- Controls the rendering of V-REP visualization. Disable it for better performance. -
velodyne_processing-Boolean- If your code do not rely on Velodyne data, you can disable this sensor here and speed up the simulation. -
kinect_processing-Boolean- If your code do not rely on Kinect data, you can disable this sensor here and speed up the simulation. -
hokuyo_processing-Boolean- If your code do not rely on Hokuyo data, you can disable this sensor here and speed up the simulation. -
hokuyo_lines-Boolean- Turn this ON if you want to see hokuyo detection lines.
This section shows how to interact with the simulated ROSI in ROS framework. It shows the published/subscribed topics, along with its message types and brief comments.
The standard is:
/topic_namespace/topic_name-<topic_message/Type>- A brief description of its content.
As good systematic boys, all variables are expressed in the International System of Units (SI).
-
/manipulator/joints_pos_sensor-<sim_rosi/ManipulatorJoints>- The embedded manipulator joints position. -
/manipulator/wrist_ft-<geometry_msgs/TwistStamped>- The embedded manipulator Force/Torque sensor output. It gives two vectors of linear and angular forces and torques, respectively. Axis order is x, y, z. -
/rosi/arms_joints_position-<sim_rosi/RosiMovementArray>- Rosi tracked arms position in [radians]. -
/rosi/kinect_joint-<std_msgs/Float32>- Kinect joint position in [radians]. -
/sensor/gps-<sensor_msgs/NavSatFix>- Emulated GPS sensor output. -
/sensor/imu-<sensor_msgs/Imu>- Emulated IMU sensor output. -
/sensor/hokuyo-<sim_rosi/HokuyoReading>- Emulated hokuyo output. It gives a vector of 3D coordinates of detected point with respect to hokuyo. -
/sensor/kinect_depth-<sensor_msgs/Image>- Emulated kinect depth image output. -
/sensor/kinect_info-<sensor_msgs/CameraInfo>- Emulated kinect information. -
/sensor/kinect_rgb-<sensor_msgs/Image>- Emulated kinect rgb image output. -
/sensor/manipulator_tool_cam-<sensor_msgs/Image- Emulated camera on the manipulator tool. -
/simulation/time-<std_msgs/Float32>- V-REP simulation time in [seconds] -
/velodyne/points2-<sensor_msgs/PointCloud2>- Emulated Velodyne output.
-
/manipulator/joints_target_command-<sim_rosi/ManipulatorJoints>- Sets the UR-5 joints desired angular position. Each joint has a built-in PID controller. One may find more UR-5 info in here. -
/rosi/command_arms_speed-<sim_rosi/RosiMovementArray>- Sets the tracked arms angular velocity in [radians/s]. Command limits in [-0.52, 0.52] rad/s -
/rosi/command_kinect_joint-<std_msgs/Float32>- Sets the kinect joint angular position set-point. Joint limits are [-45°,45° ]. It has a built-in PID controller with maximum joint speed of |0.35| rad/s. -
/rosi/command_traction_speed-<sim_rosi/RosiMovementArray>- Sets the traction system joint angular velocity in [radians/s]. The traction system drives simultaneously both the wheel and the tracks. Command limits in [-37.76, 37.76] rad/s.
PS. Topics can be renamed by changing model parameters in Coppeliasim® scene hierachy.
-
We would like to thank Marc Freese and the Coppelia Robotics team for releasing and maintaing the amazing CoppeliaSim® simulator.
-
These noble gentlemen greatly contributed to this simulator: Amauri Coelho Ferraz, Raphael Pereira Figueiredo da Silva, Evelyn Soares Barbosa and Wagner Ferreira Andrade.
-
Kinova Gen3 manipulator xacro model obtained in ros_kortex.
The present simulator is based on the ROSI Challenge competition repository. Participating teams had to perform autonomous tasks with ROSI in a representative mining port scenario.
The following are the ROSI Challenge finalists' codes (you may be inspired by them):
- 1st - Time IFES Vitória: https://github.com/AntMol8/Time_Ifes_Vitoria
- 2nd - Pra Valê: https://github.com/vinicius-r-silva/Pra_Vale
- 3rd - AAI Robotics: https://github.com/ara1557/AAI_robotics
- 4th - Hofs: https://github.com/Gustavo-Hofs/hofs_rosi_challenge_2019
- 5th - PPGEAS - UFSC: https://github.com/feressalem/rosi_challenge_ppgeas_ufsc
- 6th - ForROS: https://github.com/raphaellmsousa/ForROS
- 7th - Pyneapple: https://github.com/DiegoFr75/pyneapple
- 8th - Taura Bots: https://github.com/alikolling/taura_Rosi_challenge
- 9th - Titãs da Robótica: https://github.com/jeanpandolfi/TitasdaRoboticaRosiChallenge
We strongly recommend the teams' to maintain their repositories online and public. However, we are not responsible for their content and situation.
Related content: ROSI Challenge official website, original Github repository, and news report from the Intstituto Tecnológico Vale website.
Great! Please, open a new issue directly on this repository, or send your pull request.
If you have any suggestions, comments or compliments, you can reach the official challenge contact: [email protected]
Doubts about the simulator MUST be treated as an issue! Thanks.
Have fun!
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