/fogros-rt-x

Backport of fogros2-rt-x to ROS1

Primary LanguagePython

fogros2-rt-x

This repository contains the code for the fogros2-rt-x project. It is designed to work with ROS and TensorFlow for data collection. Note that this is a very early prototype that hacked within a week. Please submit any issues/bugs through github issues. Also checkout BerkeleyAutomation#1 for known issues and upcoming features.

Current Workflow

Currently, it works as following:

  1. (User) provides a series of rosbags (preferably in ROS2). We assume one rosbag contains one episode / trajactory.
  2. FogROS2-RT-X stores the data with a private relational database locally. By default, we use sqlite, but this can be easily adjusted.
  3. User may visualize, adjust, edit the data with the relational database (with FogROS, SQL or web interface)
  4. To export the dataset to researchers worldwide, user specifies desired observation / action topic names, and desired way of orchestrate the observation-action pair; FogROS2-RT-X library provides helper functions and utilities to streamline the process.
  5. FogROS2-RT-X exports the dataset in standard RT-X data format and shareable with researchers worldwide.
  • Note #1: this doesn't reflect the ultimate architecture. We welcome all the archtectual suggestions to move foward.
  • Note #2: especially on step 3, we are interested in what our beta tester's needs. A few ideas we can think of: adding a column; fill in the values programmically without knowing how to use sql; truncating the episode;

Installation

Steps

  1. Setting environment variables
export FOG_WS=~/fog_ws # desired location for FogROS2 ROS2 workspace
export ROS_DISTRO=humble

  1. Install ROS2 following the instructions on the official ROS2 website.

  2. Install python dependencies.

apt-get install libgmp-dev sqlite3 ros-$ROS_DISTRO-tf-transformations ros-$ROS_DISTRO-ament-cmake-nose ros-$ROS_DISTRO-rosbag2
pip install imageio tensorflow envlogger[tfds] numpy transforms3d rosbags

It's not recommended to use conda environment. It does not work well with ROS/ROS2.

  1. clone the repo
mkdir -p $FOG_WS
cd $FOG_WS
git clone https://github.com/KeplerC/fogros2-rt-x.git
git clone https://github.com/Box-Robotics/ros2_numpy
  1. Compile the repo
cd $FOG_WS
colcon build
source install/setup.bash

Google Cloud Setup (Optional)

  1. Install google cloud command line tools with the following link: Google Cloud SDK
curl https://packages.cloud.google.com/apt/doc/apt-key.gpg | sudo gpg --dearmor -o /usr/share/keyrings/cloud.google.gpg
echo "deb [signed-by=/usr/share/keyrings/cloud.google.gpg] https://packages.cloud.google.com/apt cloud-sdk main" | sudo tee -a /etc/apt/sources.list.d/google-cloud-sdk.list
sudo apt-get update && sudo apt-get install google-cloud-cli
  1. Login to your Google Cloud account using the command line: 
    gcloud auth login

Using FogROS2-RT-X

Data Collection

  1. Collect data with standard rosbag/ros2bag. For example, if you want to record all topics, simply run
ros2 bag record -a

with your standard ROS2 applications. We assume one rosbag-per-episode.

  1. Load the collected rosbags with FogROS2 with
ros2 fgr load --dataset_dir=./datasets --dataset_name="berkeley_fanuc_manipulation"

Here dataset_dir is the directory that holds the rosbags, ideally you want a directory that holds all rosbags. dataset_name is how you want to name the collected dataset.

Data Management

  1. You may manage the collected dataset with
sqlite_web ./metadata.db

(TODO: streamline this)

Data Sharing

  1. To share the data, first specify the desired observation / action topic names, and desired way of orchestrate the topics by editing the export.py. Currently, FogROS2-RT-X creates a step based on given period of time through PerPeriodTopicOrchestrator. Implementation can be found in orchestrator_base.py. You can implement your own policy of orchestrating different topics by inheriting the base class.

  2. Run

ros2 fgr export -o /image /wrist_image /end_effector_state /state  -a /action /state -s /reward  /language_embedding /language_instruction /discount --dataset_name="berkeley_fanuc_manipulation" --destination "./playground_ds"

dataset_name needs to be consistent. (TODO: more elaborative)

Replaying with existing datasets in Open-X-Embodiment

You can replay existing datasets in ROS2 with

source install/setup.bash
ros2 run fogros2_rt_x replayer --ros-args -r dataset_name:=$DATASET_NAME 
# replace with yours, e.g. berkeley_fanuc_manipulation

Contributing

Feel free to raise any concerns and bugs through the issue portal, and submit PR with your own edits.

License

Apache 2.0