bioDigital Matter ROS setup

Setup

ROS Noetic installation on Ubuntu 20.04 assumed.

grep -qxF 'source ~/catkin_ws/src/biodigitalmatter_ros/bashrc_fragment.sh' ~/.bashrc || echo 'source ~/catkin_ws/src/biodigitalmatter_ros/bashrc_fragment.sh' >> ~/.bashrc
sudo apt install python3-vcstool python3-catkin-tools
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/biodigitalmatter/biodigitalmatter_ros.git
cd ..
vcs import src < src/biodigitalmatter_ros/dependencies.repos
vcs import src --input https://raw.githubusercontent.com/ros-industrial/abb_robot_driver/0f0424ea4a857adffa99c6fccafa9ef5329772e8/pkgs.repos
rosdep update
rosdep install --from-paths src --ignore-src -y
catkin build

Create an .env file based on .env.example adding the passwords needed.

Launch

The entry point is:

roslaunch biodigitalmatter_ros bringup.launch

Arguments

Switches

There are a few different arguments that turn on and off features. They are by default set to false.

• no_robots: Don't start nodes relating to robot control that need a robot connected.
• no_rrc: Don't start compas_rrc_driver
• no_rws: Don't start rws related nodes, e.g. rws_state_publisher
• no_rgb: Don't start network camera nodes for RGB (normal) cameras that need cameras connected.
• no_rgbd: Don't start depth camera nodes that need cameras connected.
• no_record: Don't record all topics to file.

Example:

roslaunch biodigitalmatter_ros bringup.launch no_robots:=true no_record:=true

Robot settings

The relevant ones are:

• robot_ip:
• robot_model:

RGB camera settings

The relevant ones are

• rgb_ip
• rgb_name
• rgb_user
• rgb_pw

RGBD camera settings

The relevant ones are

• rgbd_camera: Currently D435i for RealSense camera or OAK-D-POE for Luxonis camera. Defaults to OAK-D-POE.

roslaunch biodigitalmatter_ros bringup.launch rgbd_camera:=D435i

Launch setups

Kaolin on robot

Kaolin

ROS_MASTER_URI=http://cook.local:11311/ mon launch biodigitalmatter_ros
bringup.launch no_robots:=true rgbd_oak_model:=OAK-D-PRO no_rgb:=true
no_record:=true

Cook

ROS_MASTER_URI=http://cook.local:11311 mon launch biodigitalmatter_ros bringup.launch no_rgbd:=true no_rrc:=true rgb_pw:=MASKED

ROS_HOSTNAME=cook.local roscore