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INSTALL.md

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Installation Guide

QUT REF Collection License

This repository has package the Task Trees as a ROS 1 package, which can be cloned into the src folder of a catkin workspace. The following shows how to satisfy the software requirements on which the task trees is based.

Software Requirements

The SDK runs in an environment with the following components:

  • Ubuntu 20.04
  • Python 3.8 or above
  • ROS Noetic with RViz
  • Moveit for ROS Noetic
  • Pytree 2.2.3
  • The arm_commander package
  • UR10 Configuration and/or Panda Configuration (for the demo programs)

Installation (Docker)

The Dockerfile for building the environment is in the root directory of this repository. It has been tested in Ubuntu 20.04. Download the file to your local disk and change directory to where the file is located.

docker build --tag task_trees - < Dockerfile

The image building may take some time. When the build is completed, execute the following to check if the image task_trees is there.

docker image ls

Execute below to allow RViz in the container to display a GUI on the host.

xhost +

Start a container based on the image.

docker run -it --net=host \
    --env="DISPLAY" \
    --env="QT_X11_NO_MITSHM=1" \
    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" task_trees

Inside the container, start the panda robot arm model in RViz

roslaunch panda_moveit_config demo.launch

Then execute the demo program.

cd ~/arm_commander_ws
source devel/setup.bash
rosrun task_trees demo.py

Installation (Non-Docker)

Install Moveit

The non-docker method assumes the starting point of having ROS Noetic installed.

sudo apt-get update
sudo apt-get install ros-noetic-moveit -y

Install the Arm Commander and Task Trees

Create a catkin workspace.

mkdir -p ~/arm_commander_ws/src
cd ~/arm_commander_ws/src

Clone the arm commander repository to the src directory.

git clone git@github.com:REF-RAS/arm_commander.git

Clone this repository to the src directory.

git clone git@github.com:REF-RAS/task_trees.git

Install a Robot Arm Model

The demo program and the tutorial programs are designed to work with the dimension of a Panda.

cd ~/arm_commander_ws/src
git clone https://github.com/ros-planning/panda_moveit_config.git -b noetic-devel

Build the Packages

rosdep install --from-paths src --ignore-src -r -y --rosdistro noetic
source /opt/ros/noetic/setup.bash
catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3

Demonstration Programs

A number of demo programs are located under demos/ for testing the installation.

To execute the push_block demo, for example, the following scripts will bring up a RViz with Panda and the demo program.

roslaunch panda_moveit_config demo.launch

cd ~/arm_commander_ws
source devel/setup.bash
/usr/bin/python3 ./src/task_trees/demos/pushblock/demo.py

Push Block Demo

Author

Dr Andrew Lui, Senior Research Engineer
Robotics and Autonomous Systems, Research Engineering Facility
Research Infrastructure
Queensland University of Technology

Latest update: Feb 2024