Installation Guide
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
