Software for a low-cost mobile manipulation: a TurtleBot2 with an arm, a second 3D camera, and some extra junk.
Cat hunter: explore the entire environment searching for cats, and attack them whenever found.
Object gatherer: explore the entire environment gathering all tabletop objects of the requested types.
Turtlebot arm object manipulation demo (video).
Install wstool:
sudo apt-get install python-wstool
or when that is not possible, fall back to pip:
sudo pip install -U wstool
mkdir ~/thorp
cd ~/thorp
wstool init src https://raw.githubusercontent.com/corot/thorp/master/thorp_bringup/docker/thorp.rosinstall
touch src/gazebo-pkgs/CATKIN_IGNORE
ln -sr src/gazebo-pkgs/gazebo_grasp_plugin src
ln -sr src/gazebo-pkgs/gazebo_version_helpers src
source /opt/ros/melodic/setup.bash
rosdep update
rosdep install --from-paths src /opt/ros/melodic --ignore-src --rosdistro melodic -y
catkin build
pip install --upgrade bidict ratelimit
Arm, sonars and IR sensors require a bit of extra work. Check their README for instructions.
- Cannot connect with Kobuki base:
- Ensure you have installed the udev rule as explained in the kobuki_ftdi package
- Cannot connect with arduino, OpenCM or USB2AX:
- Ensure you have installed the udev rules as explained in the thorp_boards package
- Gazebo error in REST request:
- fix explained here
- Tensorflow not working:
Available in dockerhub
docker pull corot/thorp
To build locally:
cd ~/thorp/thorp_bringup/docker
docker build -t thorp .
Run with rocker:
I need to use @fevb's fork to make all work. Otherwise, I experience the issue described here. To install it, clone rocker and install it on your host system:
cd ~/
git clone git@github.com:fevb/rocker.git
cd rocker/
pip install -e . --no-binary rocker
Ensure you run the fork (it will get installed in ~/.local/bin/rocker`)
rocker --pulse --nvidia --x11 thorp
or the pulled image:
rocker --pulse --nvidia --x11 corot/thorp