RFMove

THIS LIBRARY IS STILL UNDER DEVELOPMENT

The first usable version is going to be released later in July 2022.

Attention: This repo use submodules. You can use git clone --recurse-submodules <repo url> to initialize submodules automatically. If you download source code from releases, you need to fetch pybind11 manually from pybind11 GitHub and put it into /extern/pybind11.

Build with Standalone Libraries

This library use and wrap the shared libraries from ROS and MoveIt. If you want to build this library without the installation of ROS or MoveIt, you need to provide all required shared libraries and header files standalone.

Install Dependency

Install Eigen3 which is the geometry mathematics lib used by MoveIt. Eigen3 in cpp is somewhat like NumPy in Python.

sudo apt install libeigen3-dev

Install gcc. Of course we need gcc.

sudo apt install build-essential

Install boost. Boost is widely used ... nearly everywhere.

sudo apt install libboost-all-dev

However, ros kinetic use boost 1.58.0 which is no longer available in some new system version. In that case, we packed all boost 1.58.0 libraries standalone.

Install TinyXML which is the xml parser used by ros. However, there is a new TinyXML-2 available but ros still use TinyXML. TinyXML only use make as its build system and does not provide binary release. In that case, it would be somewhat difficult to install it. Catkin provide a package to install it. Here, we repackage TinyXML as a cmake project in extern/tinyxml. The source code is downloaded from SourceForge. You can build and install TinyXML into /use/local through:

cd extern/tinyxml
mkdir build
cmake ..
sudo make install

You should find libtinyxml.so; libtinyxml.so.2.6.2 in /usr/local/lib and tinyxml.h in /usr/local/include.

If you build this lib on ubuntu 18.04+, you should reinstall libcurl4 as the curl from default software repo does not support SSLv3.

dpkg --list | grep curl
sudo apt --purge remove libcurl4
sudo add-apt-repository ppa:savoury1/curl34
sudo apt-get update
sudo apt-get install curl

# cmake relay on curl so cmake would also be removed
sudo apt-get install cmake

Install pybullet (with python 3+). Note that you can install pybullet in conda.

pip install pybullet

Make soft links for libraries:

# start from repo root directory.
cd extern/lib  #All soft links can be removed
./rmlink       #remove all old soft links
./mklink       #make new soft links

Make and Install

Source environment variables,if you want to use conda env,you need activate conda env at first.

# activate conda env
conda activate your_conda_env 
# activate rfuniverse env
conda activate rfuniverse_env

source set_env.bash

That would set the header files and libraries search path.

Build

mkdir install
mkdir build
cd build
cmake ..
make install

All shared libraries, public header files, and executable file would be installed into install folder (so that we do not need administrator privilege).

Run demo

cd src
python pybullet_demo.py

Run demo with rfuniverse

• download rfuniverse and install

git clone [email protected]:mvig-robotflow/pyrfuniverse.git
git checkout dev

Please,refer to the repo pyrfuniverse for a full installation.

• download RFUniverse_toBor.tar.xz

tar -jxvf RFUniverse_toBor.tar.xz -C /your/rfu/path # uncompress Rfuniverse to your path

• modify your demo file
  You can find demo file about rfuniverse in "example/rfu".To run demo,you need modify your demo file as follows:

# your RFUniverse_toBar path(Absolute Path)
executable_file='/your/rfu/path/Player.x86_64'
scene_file='/your/rfu/path/Player_Data/StreamingAssets/SceneData/RFMoveTest.json'

# about rfmove 
rfmove_dir="/your/rfmove/path"

print("== Initalize Planner moveit model ==")
self.plannerspline=PlannerSpline("panda_arm")
self.plannerspline.init(rfmove_dir+"/resources/franka_convert.urdf",
                        rfmove_dir+"/resources/panda_arm_hand.srdf",
                        rfmove_dir+"/resources/kinematics.yaml",
                        rfmove_dir+"/resources/ompl_planning.yaml",
                        rfmove_dir+"/resources/joint_limits.yaml")

• make sure your urdf has correct modification
  You can use urdf_converter to modify you urdf file, which introduced in "/notebook/QuickStart.ipynb",Or You can modify and replace urdf manually by "Ctrl+H" in vscode,as follows:

<collision>
      <geometry>
        <mesh filename="file:///home/ziye01/rfmove/resources/franka_description/meshes/collision/link0.stl"/>
      </geometry>
</collision>

####  from
<mesh filename="file:///home/ziye01/rfmove/resources/franka_description/meshes/collision/link0.stl"/>
####  to
<mesh filename="file://yourpath/your_robot_description/meshes/collision/link0.stl"/>

• Add you collision object

cd  /your/rfu/path    
./Player.x86_64 -edit  # open your rfuniverse env for add collision objects.

With the above command, you can add your own collider in the rfuniverse environment，Unfortunately, so far, rfuniverse only supports three types of collision objects, they are circle, box and capsule.

• run demo files
  You can find demo about in "example/rfu"

1. test_rfmove_franka.py:run franka in rfuniverse
2. test_rfmove_toBar.py:run tobor in rfuniverse

Build From Source With ROS-Kinetic and MoveIt-Kinetic

Dependency

• ROS Kinetic
• Moveit 1 - Kinetic

We recommend installation through apt install directly.

Source Tree

• CMakeLists.txt: Top level build script. Declare all dependencies and targets.
• src/: Source directory
  • robot_model/: Helper and Wrapper classes about robot model and kinematics solver.
    • CMakeLists.txt: Build script for shared library librobot_model_noros.so
    • src/
    • include/robot_model/
  • python/: Source of PyMove binding code.
    • CMakeList.txt: Build script for python module moveit_noros.so
    • RobotModelLoaderPy.cpp: Core binding code.
    • include/: Split binding code.
  • util/: Some common utils.
  • model_and_state_demo.cpp: Implement of MoveIt robot model and robot state tutorial without ros.
  • model_and_state_demo.py: Implement of MoveIt robot model and robot state tutorial using PyMove.
• extern/: Extern source directory
  • kdl_kinematics_plugin/: Implementation of kdl kinematics solver without ros.
    • CMakeLists.txt: Build script for shared library libkdl_kinematics_noros.so
    • src/
    • include/kdl_kinematics_plugin/: Only kdl_kinematics_plugin.h is installed.
  • pybind11/: Header-only library pybind11.
• resources/: Resource file copyed from panda_moveit_config package.

TODO

• Support IK-Fast kinematics solver for tobor.
• Support ros controller.
• Support moveit group interface