DeepRLProj

Install WSL2 on Windows 10:

Installing WSL2:

1. Open Start
2. Search for Command Prompt, right-click and select Run as administrator
3. Type the following command to install the WSL on Windows 10

wsl --install

4. Restart your computer to finish the WSL installation

Update WSL kernel

1. Open Start
2. Search for Command Prompt, right-click and select Run as administrator
3. Type the following command to update the WSL kernel

wsl --update

If the update command doesn’t work, open Settings > Update & Security > Windows Update > Advanced options, and turn on the “Receive updates for other Microsoft products when you update Windows” toggle switch.

Enable Windows Subsystem for Linux

1. Open Start
2. Search for Turn Windows features on or off
3. Check the Windows Subsystem for Linux option
4. Restart your computer if needed

Enable Virtual Machine Platform

1. Open Start
2. Search for PowerShell, right-click and select Run as administrator
3. Type the following command to enable the Virtual Machine Platform feature

Enable-WindowsOptionalFeature -Online -FeatureName VirtualMachinePlatform

Enable Windows Subsystem for Linux 2

1. Download this WSL 2 kernel update
2. Run wsl_update_x64.msi
3. Open Start
4. Search for PowerShell, right-click and select Run as administrator
5. Type the following command to set Windows Subsystem for Linux 2 your default architecture

wsl --set-default-version 2

Confirm distro platform

1. Open Start
2. Search for PowerShell, right-click and select Run as administrator
3. Type the following command to verify the version of the distro

wsl -l -v

4. Confirm the distro version is 2

Install ROS Noetic

1. Navigate to your home directory

cd

2. Setup your sources.list

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

3. Setup your keys

sudo apt install curl

curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

4. Update Debian package index

sudo apt update

5. Install ROS Desktop Full

sudo apt install ros-noetic-desktop-full

6. Environment setup

source /opt/ros/noetic/setup.bash

7. Automatic Environment setup

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc

source ~/.bashrc

8. Dependencies for building packages

sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential

9. Initialize rosdep

sudo apt install python3-rosdep

sudo rosdep init

rosdep update

Setting up LoCoBot in Gazebo

1. Clone the Interbotix Repo

git clone https://github.com/Interbotix/interbotix_ros_rovers.git

2. Navigate to install directory

cd interbotix_ros_rovers/interbotix_ros_xslocobots/install/amd64

3. Run install script

chmod +x xslocobot_amd64_install.sh

./xslocobot_amd64_install.sh

Setup XLaunch

1. Download and Install VcXsrv
2. Run XLaunch
3. Select Multiple Windows
4. Display number: 0
5. Click Next
6. Select Start no client
7. Click Next
8. Disable Native opengl
9. Enable Disable access control
10. Click Next
11. Finish

In your WSL2 environment, run the following Commands

export GAZEBO_IP=127.0.0.1

export DISPLAY=$(cat /etc/resolv.conf | grep nameserver | awk '{print $2}'):0 

export LIBGL_ALWAYS_INDIRECT=0

Catkin Make

Navigate to the folder /home/user/interbotix_ws and run the following command

catkin_make

Run ROS/Gazebo

Launch ROS/Gazebo

roslaunch interbotix_xslocobot_gazebo xslocobot_gazebo.launch robot_model:=locobot_px100 show_lidar:=true use_position_controllers:=true dof:=4

OPEN NEW TERMINAL
Unpause physics engine

rosservice call /gazebo/unpause_physics

Removing ROS

Uninstalling ROS if you wish to restart

sudo apt-get clean
sudo apt-get autoremove
sudo apt-get remove ros-*
sudo apt-get update

Setting up Pyrobot in Ubunto 16.04

Run the following commands to get the pyrobot install script (Make sure you are in your home directory)

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

Edit the locobot_install_all.sh script

chmod +x locobot_install_all.sh
vim locobot_install_all.sh

Replace the following lines:

sudo pip install --upgrade cryptography
sudo python -m easy_install --upgrade pyOpenSSL
sudo pip install --upgrade pip==20.3

With these lines:

sudo pip install --upgrade pip==20.3
sudo pip install --upgrade cryptography==3.3.2
sudo python -m pip install --upgrade pyOpenSSL==21.0.0

The replace all instances of "rosdep update" with:

rosdep update --include-eol-distros

Run the install script for sim_only:

./locobot_install_all.sh -t sim_only -p 2 -l interbotix

When the script fails run the following commands:

sudo pip install cmake
cd Pangolin
git checkout 7987c9b
cd build
cmake ..
make -j16
sudo make install

Rerun the installation script:

cd
./locobot_install_all.sh -t sim_only -p 2 -l interbotix

Once the installation completes, make sure to restart the terminal or computer (Depending on where it's running)

You can test the installation using the following command:

roslaunch locobot_control main.launch use_arm:=true use_sim:=true teleop:=true use_camera:=true use_base:=true use_rviz:=false

Update Gazebo using the following commands:

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install gazebo7 -y

Make sure the display LIBGL variable are set in your bash, if not:

echo "export DISPLAY=$(cat /etc/resolv.conf | grep nameserver | awk '{print $2}'):0" >> ~/.bashrc
echo "export LIBGL_ALWAYS_INDIRECT=0" >> ~/.bashrc
source ~/.bashrc

To launch the model you need to first activate the virtual environment:

load_pyrobot_env

NOTE if it doesn't work and you get a A LIBGL segmentation fault, that is because you need to follow the xlaunch setup written above and disable the native gl stuff.

Massimo's Ubuntu installation for the actual robot manipulation

First you will need to run the following commands to install the robotics libaries

sudo apt install curl
curl 'https://raw.githubusercontent.com/Interbotix/interbotix_ros_manipulators/main/interbotix_ros_xsarms/install/amd64/xsarm_amd64_install.sh' > xsarm_amd64_install.sh
chmod +x xsarm_amd64_install.sh
./xsarm_amd64_install.sh

This script will create 3 folders in your home directory. There will be a cmake error in the realsense package, which will force us to make some modifications. The error in the cmake has to do with the c++ function finds_if. You will need to open up the realsense_ws folder in your home and search for this function and add a "std::" namespace to the instances that do not have it. after that you will need to purge the other two folders and modify the xsarm_amd64_install.sh script with the following:

  # Step 2B: Install realsense2 ROS Wrapper
 REALSENSE_WS=~/realsense_ws
#  if [ ! -d "$REALSENSE_WS/src" ]; then
  if [ -d "$REALSENSE_WS/src" ]; then
    echo "Installing RealSense ROS Wrapper..."
    # mkdir -p $REALSENSE_WS/src
    cd $REALSENSE_WS/src
    # git clone https://github.com/IntelRealSense/realsense-ros.git
    cd realsense-ros/
    # git checkout 2.3.1
    cd $REALSENSE_WS
    catkin_make clean
    catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
    catkin_make install
    echo "source $REALSENSE_WS/devel/setup.bash" >> ~/.bashrc
  else
    echo "RealSense ROS Wrapper already installed!"
  fi
  source $REALSENSE_WS/devel/setup.bash

We will also remove the last couple of lines that were inserted into our bashrc by doing the following:

gedit ~/.bashrc

You will first need to enable the robot with the following command

roslaunch interbotix_xsarm_control xsarm_control.launch robot_model:=vx250

For the vision modules you will need to run the following line:

roslaunch interbotix_xsarm_perception xsarm_perception.launch robot_model:=vx250 use_armtag_tuner_gui:=true use_pointcloud_tuner_gui:=true

After you connect the arm you can run the following command to enable or disable the actuators.

rosservice call /vx250/torque_enable "{cmd_type: 'group', name: 'all', enable: true}"

Then you can move the arm into a home position by doing the following

rostopic pub -1 /vx250/commands/joint_group interbotix_xs_msgs/JointGroupCommand "arm" "[0,0,0,0,0]"

** NOTE ** if the arm falls into error (red flashing light on motors), you will need to power cycle the robot

Python API For moving the arm

You can run the following script to try manipulating the viperx 250 arm

from interbotix_xs_modules.arm import InterbotixManipulatorXS
import numpy as np

# This script makes the end-effector perform pick, pour, and place tasks
#
# To get started, open a terminal and type 'roslaunch interbotix_xsarm_control xsarm_control.launch robot_model:=wx250'
# Then change to this directory and type 'python bartender.py'

def main():
    bot = InterbotixManipulatorXS("vx250", "arm", "gripper")
    bot.arm.set_ee_pose_components(x=0.3, z=0.2)
    bot.arm.set_single_joint_position("waist", np.pi/2.0)
    bot.gripper.open()
    bot.arm.set_ee_cartesian_trajectory(x=0.1, z=-0.16)
    bot.gripper.close()
    bot.arm.set_ee_cartesian_trajectory(x=-0.1, z=0.16)
    bot.arm.set_single_joint_position("waist", -np.pi/2.0)
    bot.arm.set_ee_cartesian_trajectory(pitch=1.5)
    bot.arm.set_ee_cartesian_trajectory(pitch=-1.5)
    bot.arm.set_single_joint_position("waist", np.pi/2.0)
    bot.arm.set_ee_cartesian_trajectory(x=0.1, z=-0.16)
    bot.gripper.open()
    bot.arm.set_ee_cartesian_trajectory(x=-0.1, z=0.16)
    bot.arm.go_to_home_pose()
    bot.arm.go_to_sleep_pose()

if __name__=='__main__':
    main()

Useful links with regards to viperx 250 arm

https://www.trossenrobotics.com/viperx-300-robot-arm.aspx#packages https://github.com/Interbotix/interbotix_ros_manipulators https://www.trossenrobotics.com/docs/interbotix_xsarms/ros_interface/software_setup.html https://www.trossenrobotics.com/docs/interbotix_xsarms/specifications/vx250.html https://www.trossenrobotics.com/docs/interbotix_xsarms/python_ros_interface/index.html https://www.youtube.com/watch?v=KoqBEvz4GII&t=436s&ab_channel=TrossenRobotics https://www.trossenrobotics.com/docs/interbotix_xsarms/ros_interface/quickstart.html

Lab tech http://www-labs.iro.umontreal.ca/~lokbani/

Setting up the Block World

In order to setup gazebo to launch from the same world every time the following steps need to be followed

• Open up the block_world.world and replace all the home directory paths with your own home directory.
• Navigate to the directory /home/user/low_cost_ws/src/pyrobot/robots/LoCoBot/locobot_gazebo/worlds and place the block_world.world file in there.
• Next we want to navigate to the file /home/massimo/low_cost_ws/src/pyrobot/robots/LoCoBot/locobot_gazebo/launch/empty_world.launch and modify the world name to contain our newly imported world file.

<arg name="world_name" default="$(find locobot_gazebo)/worlds/block_world.world"/> <!-- Note: the world_name is with respect to GAZEBO_RESOURCE_PATH environmental variable -->
 

• We want to fix the robot in place, to do so copy the files locobot_description.urdf into the following directory (make a backup of the existing one in case you want to revert) /home/massimo/low_cost_ws/src/pyrobot/robots/LoCoBot/locobot_description/urdf/interbotix_locobot_description.urdf