Open the terminal in VM and build the robot code with colcon build. This will take a while especially on first run.
Next you need to source the built environment with source install/setup.bash. In short, you need to run this every time you have fresh build for your robot. This is set up in ~/.bashrc, so you don't need to run it in every new terminal before launching the robot or other node.
Now continue instructions in Bring-up fake (simulated) robot or Bring-up real HW robot.
If you just want to test that robot starts, send hand written commands or use the hand action client you don't need to fulfill any other requirement. However, if you want to test the face tracking you need have some webcam hardware. See Webcam setup in Virtualbox.
You can launch the fake robot in rviz using the launch file. Run the following command in a GUI environment:
ros2 launch robot robot.fake.launch.pyThis setups fake servo controllers and joint state publishers, and the following window should popup:
Term "fake hardware" means that the hardware mirrors received commands to its states. Ros2 Foxy documentation uses term "fake" but latest releases uses term "mock" talking about same thing.
If you want to use also the face tracker you need to start it:
ros2 launch face_tracker face_tracker.test.launch.pyIf you want to see what the face detection does, run this:
ros2 run rqt_image_view rqt_image_view /face_tracker/image_faceThis opens the view to see the camera feed and what face detection recognizes.
To get the eyes moving. (Don't be scared about eyes flipping awkwardly to the side. More about this at the end...)
ros2 run face_tracker_movement face_tracker_movement_node eyesSuccess! You are done. Eyes should "follow" your face. This implementation has a flaw that it is made for the real hardware, so the eye_movement node controls the eyes like it would have the real hardware. In other words, the eyes have different "zero" position in simulation compared to real hardware.
Anyway, you are able to test the face tracking and eye movements like this.
Note: currently, only jaw, eyes, right hand & head pan movement can be simulated
Text-to-speech works as a service which can be called from terminal utilizing the ros2 client in package.
Run the service in a (new) terminal
ros2 run tts_package serviceCall the service from terminal using client and synthetize speech
ros2 run tts_package client "Tämä lause syntentisoidaan puheeksi."We suggest using Dynamixel Wizard 2.0 to test the connection and functionality of the servos before trying to run the robot. This is optional but can save some time debugging if the servos or communication with them doesn't work.
You can use the start_robot_head script file to quickly bring up the whole robot head. The script by default launches the face tracker and the ros2 nodes for the jaw, eye and head movement.
To execute the script (in a terminal opened in /workspace):
./start_robot_headThis opens multiple terminal tabs in quick succession without checking if the programs actually launch correctly, so you might want to check the output of each one. Usually problems are caused by the first tab (robot.launch.py) not being able to arm or find a servo.
You can launch the real robot using a launch file:
ros2 launch robot robot.launch.pyThis should launch the robot listening server and prints a lot of output. If not, check the Troubleshooting part below. robot.launch.py file creates temporary file from dynamixel_arm.yaml and dynamixel_head.yaml to config/ folder to allow launching the arm and head separately.
To launch only the arm hardware
ros2 launch robot robot.launch.py robot_parts:=armTo launch only the head hardware
ros2 launch robot robot.launch.py robot_parts:=headIn general you can start the controllers with:
ros2 control load_controller --set-state start <controller_name>By default all controllers are started automatically by robot.launch.py. Remember to add new controllers you want to launch there. To add a controller you only need to add the controller name into the controllers_to_start-array in robot.launch.py (and rebuild).
After the required controllers are active, you can start the face tracker and eye movement nodes.
Start the face tracker
ros2 launch face_tracker face_tracker.test.launch.pyIf you want to see what the face detection does, run this:
ros2 run rqt_image_view rqt_image_view /face_tracker/image_faceThis opens the view to see the camera feed and what face detection recognizes.
Finally, start the face tracking movement node in a new terminal window
ros2 run face_tracker_movement face_tracker_movement_nodeText-to-speech works as a service which can be called from terminal utilizing the ros2 client in package.
Run the service in a (new) terminal
ros2 run tts_package serviceCall the service from terminal using client and synthetize speech
ros2 run tts_package client "Tämä lause syntentisoidaan puheeksi."Todo: simplify bring up process (add the starting of the controllers to the launch file)
The robot head joints doesn't have similar easy to use action client as the arm has. If you want to send action goals to the head you need to start the head_controller Then following actions and topics should be available:
vagrant@vagrant-ros:/workspace$ ros2 action list
/head_controller/follow_joint_trajectory
vagrant@vagrant-ros:/workspace$ ros2 topic list
/head_controller/joint_trajectory
/joint_statesFor example, if the joint head_pan_joint was configured correctly, it should move to position 0.5 when publishing the following action (other joints will also move to 0 positions if not already):
ros2 action send_goal /head_controller/follow_joint_trajectory control_msgs/action/FollowJointTrajectory "{
trajectory: {
joint_names: [head_pan_joint, head_tilt_right_joint, head_tilt_left_joint, head_tilt_vertical_joint],
points: [
{ positions: [0.5, 0.0, 0.0, 0.0], time_from_start: { sec: 1, nanosec: 0 } }
]
}
}"Note: When driving the head_tilt_left/right joints, you must move the both servos simulatenously the same amount to the correct directions!
Note: The head_tilt_vertical_joint is easily overloaded due to the weight of the head and stickiness of the drive screw, and the servo will stop responding. Requires mechanical improvement.
If you want to move only one joint at a time, it possible by omitting the other joints:
ros2 action send_goal /head_controller/follow_joint_trajectory control_msgs/action/FollowJointTrajectory "{
trajectory: {
joint_names: [head_pan_joint],
points: [
{ positions: [1.0], time_from_start: { sec: 2, nanosec: 0 } }
]
}
}"The jaw can be controlled with jaw_controller. Value for closed jaw is 0.0 and for open 0.55.
ros2 action send_goal /jaw_controller/follow_joint_trajectory control_msgs/action/FollowJointTrajectory "{
trajectory: {
joint_names: [head_jaw_joint],
points: [
{ positions: [0.55], time_from_start: { sec: 1, nanosec: 0 } }
]
}
}"time_from_start is the duration of the movement.
Note: acceleration and velocity is fixed for real servos currently, so these cannot be controlled. This would require adding velocity and acceleration command interfaces to the JointTrajectoryAction controller
If you have a integrated webcam in you laptop you can use it. You need to pass the webcam hardware to Ubuntu guest from menu "Devices->Webcam->..." and choose your hardware. If you are using the usb connected external webcam (e.g. the camera integrated to the robot eye) configure it inside the USB settings. Or just pass it to guest with "Devices->USB->..." and choose your webcam.
If you have issues connecting the camera to guest make sure that you have the matching version of guest additions installed in the guest os.
To test that OS detects the webcam run:
lsusb -tIt should output something like this.
vagrant@vagrant-ros:/workspace$ lsusb -t
/: Bus 02.Port 1: Dev 1, Class=root_hub, Driver=xhci_hcd/6p, 5000M
/: Bus 01.Port 1: Dev 1, Class=root_hub, Driver=xhci_hcd/8p, 480M
|__ Port 1: Dev 3, If 0, Class=Video, Driver=uvcvideo, 12M
|__ Port 1: Dev 3, If 1, Class=Video, Driver=uvcvideo, 12MCheck that dynamixel_arm.yaml and dynamixel_head.yaml have the right IDs and check that the baud rate of servos is set to 57600.
All ID's that you have in the dynamixel_*.yaml files need to be connected for the launch script to work. Comment out all servo ID's that are not connected. No need to remove them from anywhere else.
The servo is likely overloaded. You have to manually reset the servo for it to work again. You can do this by using Dynamixel Wizard to reboot the servo, or alternatively you can turn the power off and on again. You will have to redo the whole bringup in any case.
There are various failures that we have seen so far, but here are some of the most common ones
CMake compiles the c++ packages and it does not like if the timestamps of temporary files are in in the future. This is most likely due to file synchronization between the host and guest OSes. It least we have seen this happening on Windows and Mac hosts. If you use Virtualbox with Vagrant it uses the Shared Folders interface to synchronize the /workspace folder.
You just need to try the colcon build build again. We have tried to make sure that the clocks on host and guest OS are synchronized without bulletproof results. Sometimes it helps you wait a while to compensate the time difference and run again colcon build.
Our suggestion is to test how environment works when folders are not synced from host OS. In other words move the whole development environment to guest OSes virtual disk.
Please, run the colcon build again couple times, it might help. If you want to do some cleaning following commands have been sometimes helpful.
colcon build --cmake-clean-cacheAfter you have run that try again colcon build.
If you face package dependency failures during colcon build please run rosdep install --from-paths src --ignore-src --rosdistro foxy -r -y. It might request you to run rosdep update first. Run it first and then run the rosdep install .... Then try to run colcon build again and it should be able to figure out those dependencies now.