MergableIndustrialRobots

Connect to UR:

UR RTDE STUFF TODO

Prerequisites

SpinningUp from OpenAIGym:

git clone https://github.com/openai/spinningup.git
cd spinningup
pip3 install -e .

gym-mergablerobots:

git clone https://gitlab.com/kasperg3/mergableindustrialrobots
cd mergableindustrialrobots
pip3 install -e gym-mergablerobots/

Tensorflow:

pip3 install tensorflow

Add this to .bashrc:

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/cuda/extras/CUPTI/lib64

And source:

cd 
source .bashrc

Setup V-Rep: (DEPRECATED)

Install V-Rep Ros Interface(Requires a catkin workspace):

1: Install xsltproc and python 2.7 or greater:

    sudo apt-get install xsltproc

2: Make sure to have all ros dependencies:

    rosdep install --from-paths src --ignore-src --rosdistro melodic -y

3: Go to /home/user/catkin_ws/ and clone v_rep interface:

    git clone --recursive https://github.com/CoppeliaRobotics/v_repExtRosInterface.git vrep_ros_interface

__4: In order to build the packages, navigate to the catkin_ws folder and type: __

    export VREP_ROOT=~/path/to/v_rep/folder
    source ~/.bashrc

5: Build the workspace with catkin

    catkin build

How to add a custom service for V-rep

1: Clone the vrep_ros_interface from https://github.com/kasperg3/vrep_ros_interface into catkin_ws directory (This is a version with a service created for recieving Q's) 2: Build vrep_ros_interface

    catkin build vrep_ros_interface && ./home/user/catkin_ws/vrep_ros_interface/install.sh

3: Enjoy a cold beer, it's friday ma dood

Install RobotiQ Grippers from ros industrial

__1: Clone the directory into catkin_ws/src: __

    cd ~/catkin_ws/src

    git clone https://github.com/ros-industrial/robotiq

__2: Install dependencies(these were the missing dependencies for me): __

    sudo apt-get install ros-melodic-soem
    sudo apt-get install ros-melodic-socketcan-interface

3: Build:

    catkin build robotiq

__4: Running robotiq: __ The hand-e gripper is not supported, so use a robotiq 2f instead. This can be run by following the tutorial on ros: http://wiki.ros.org/robotiq/Tutorials/Control%20of%20a%202-Finger%20Gripper%20using%20the%20Modbus%20RTU%20protocol%20%28ros%20kinetic%20and%20newer%20releases%29