A Webots Ros-Melodic-Moveit UR5e Demo with Docker Image Option.
If you have Docker engine, you can skip 'Pre-requisites' and 'Install'. you can start from 'Docker Image' to build the Dockerfile as a Docker Image and run this repo in a Docker container. If you prefer to use this repo without Docker engine, you can ignore Dockerfile and you have to meet the Pre-requests as below:
- Ubuntu 18.04
- ROS Melodic-moveit
- Webots 2020b-rev1 or newer version
- Compile this under workspace
~/Webots_Ros1_Moveit_UR5e
catkin_make
- Add 'source' and 'export' to .bashrc
source ~/Webots_Ros1_Moveit_UR5e/devel/setup.bash
The Dockerfile, which can be used to build a docker image consists of ubuntu18.04, nvidia/cudagl, webots, ros-melodic, moveit, and self-defined ROS packages. This is super useful and convenient. Any computer with recent Docker Engine and Nvidia GPU can easily use this repo without installing a ton of dependence. Also, it can beyond the limitation of operating system, eg. you can even use this repo on Windows.
Using docker without 'sudo' the cmd. If you never done this before, it is suggested that typing in following cmd:
sudo groupadd docker
sudo gpasswd -a ${USER} docker
sudo systemctl restart docker
sudo chmod a+rw /var/run/docker.sock
Create the image using Dockerfile， Run the cmd under ~/Webots_Ros1_Moveit_UR5e
docker build -t webots_moveit_ur5 .
This will create the deployment image named webots_moveit_ur5
You will need the NVIDIA GPU support for the docker container. To build the bridge, run following cmd:
curl https://get.docker.com | sh \
&& sudo systemctl start docker \
&& sudo systemctl enable docker
distribution=$(. /etc/os-release;echo $ID$VERSION_ID) \
&& curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add - \
&& curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list
sudo apt-get update
sudo apt-get install -y nvidia-docker2
sudo systemctl restart docker
Run docker image in container called webots_interface
docker run --gpus=all --privileged --net=host -e DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix:rw -it --rm --name webots_interface webots_moveit_ur5 bash
Tips: You can create .bash_aliases file in ~ and add the following to it(optional):
alias wmu_run="docker run --gpus=all --privileged --net=host -e DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix:rw -it --rm --name webots_interface webots_moveit_ur5 bash"
Such that you only need to issue wmu_run to launch the program.
This repo needs 4 terminals in total, so after you do docker run in one terminal, you have to open 3 new terminals, and type in following cmd to connect these 3 terminals with the first one you opened by the same container webots_interface
docker exec -it webots_interface bash
roslaunch ur_e_webots ur_webots_world.launch
roslaunch ur_e_webots ur5e.launch
You can control ur5 by rostopic pub by typing following command in a terminal:
rostopic pub -1 /follow_joint_trajectory/goal control_msgs/FollowJointTrajectoryActionGoal "header:
seq: 0
stamp:
secs: 1672
nsecs: 512000000
frame_id: ''
goal_id:
stamp:
secs: 1672
nsecs: 512000000
id: "/move_group-1-1672.512000000"
goal:
trajectory:
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: "world"
joint_names: [elbow_joint, shoulder_lift_joint, shoulder_pan_joint, wrist_1_joint, wrist_2_joint,
wrist_3_joint]
points:
-
positions: [0.4800836524707155, -0.3743967070402672, 6.065492035530852, -3.2493820917516176, 0.24115501607092973, 3.1438560272633125]
velocities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
accelerations: [0.0, 0.0, -0.35136087310689307, 0.0, 0.0, 0.0]
effort: []
time_from_start:
secs: 0
nsecs: 0
-
positions: [0.7508745678414053, -0.6685986884092454, 6.031372993376337, -3.2257606070739477, 0.2752779815153147, 3.1436747000131815]
velocities: [1.0556874250870498, -1.1469562475600767, -0.13301422504971686, 0.09208914672032482, 0.1330295201262731, -0.0007069103390236631]
accelerations: [2.8392965167376563, -3.0847661923028857, -0.3577449317718908, 0.24767595719992672, 0.35778606824521314, -0.0019012522225270137]
effort: []
time_from_start:
secs: 0
nsecs: 440693570
-
positions: [1.0216654832120953, -0.9628006697782237, 5.997253951221823, -3.202139122396278, 0.3094009469596996, 3.14349337276305]
velocities: [1.0606453357223284, -1.1523427913824666, -0.13363891056300975, 0.09252163246285489, 0.13365427747107678, -0.0007102302594894569]
accelerations: [-2.8393610501625988, 3.0848363049263336, 0.3577530628373031, -0.24768158654427305, -0.357794200245603, 0.0019012954354556849]
effort: []
time_from_start:
secs: 0
nsecs: 621593558
-
positions: [1.292456398582785, -1.2570026511472019, 5.963134909067308, -3.178517637718608, 0.34352391240408453, 3.143312045512919]
velocities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
accelerations: [-2.8793566289320554, 3.1282896774438966, 0.36279241519580363, -0.25117045894526946, -0.36283413207053233, 0.0019280773099641867]
effort: []
time_from_start:
secs: 1
nsecs: 55288456
path_tolerance: []
goal_tolerance: []
goal_time_tolerance:
secs: 0
nsecs: 0"
roslaunch ur5_e_moveit_config ur5_e_moveit_planning_execution.launch
roslaunch ur5_e_moveit_config moveit_rviz.launch config:=true
Now you can control ur5 in Webots by MontionPlanning Plugin in Rviz
If you cannot launch Webots in docker container, you may need this cmd before you docker run:
xhost +local:root > /dev/null 2>&1
If you cannot open Rviz in docker container, you may need this cmd before you docker run:
xhost +local:docker