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eus_vive

★ 31 Open GitHub ↗

ROS package for multi robot teleoperation with HTC Vive/SpaceNav/Oculus/Tablis

// repository documentation

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# eus_vive

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Multi robot teleoperation system with Vive/SpaceNav/Oculus/Tablis Cockpit

## Note

This package depends on these branches below:

- For PR2 and  Baxter
  - [knorth55/rviz_camera_stream@master](https://github.com/knorth55/rviz_camera_stream)
  - [knorth55/rviz_textured_sphere@add-padding](https://github.com/knorth55/rviz_textured_sphere/tree/add-padding)
  - [knorth55/vive_ros@use-camera](https://github.com/knorth55/vive_ros/tree/use-camera)

- For Baxter only
  - [knorth55/baxter_interface@baxter-vive-control](https://github.com/knorth55/baxter_interface/tree/baxter-vive-control)
  - [pazeshun/dynamixel_motor@gripper-v6-devel](https://github.com/pazeshun/dynamixel_motor/tree/gripper-v6-devel)

- For Dragon only
  - [knorth55/jsk_aeriao_robot@drone-euslisp](https://github.com/knorth55/jsk_aerial_robot/tree/drone-euslisp)

## Tested Environment

### Build environment

#### Ubuntu 20.04 + ROS Noetic

Steam does not work on Melodic or Kinetic now.

- NVidia driver: `525.105`
- OpenVR: `1.3.22`
- Steam VR: `1.6.10`

### User interface devices

#### Vive

- [x] Arm motion tracking
- [x] Controller button interface
- [x] HMD visual interface
- [x] Vibration interface
- [x] Sound interface

#### Tablis

- [x] Arm motion tracking
- [x] Controller button interface
- [x] HMD visual interface
- [x] Vibration interface
- [x] Sound interface

#### SpaceNav (3D mouse)

- [x] Arm motion tracking
- [x] Controller button interface

#### Oculus

- [x] Arm motion tracking
- [ ] Controller button interface
- [ ] HMD visual interface
- [ ] Vibration interface
- [ ] Sound interface

## Installation

### Dependency installation

#### Install dependencies (for Vive)

```bash
sudo apt-get install --reinstall xserver-xorg-video-intel-hwe-18.04 libgl1-mesa-glx libgl1-mesa-dri xserver-xorg-core
sudo dpkg-reconfigure xserver-xorg
```

#### Install nvidia-driver (for Vive)

```bash
# for melodic, run command below
sudo apt install nvidia-driver-390
# for kinetic, install cuda-9.2 deb (local) manually and run command below.
sudo apt install nvidia-396
```

#### Install `OpenVR`, `steam` and `steamVR` (for Vive)

Follow [here](https://github.com/knorth55/vive_ros)

#### Remove libcurl packages in Steam (for Vive)

```bash
rm -r ~/.steam/steam/ubuntu12_32/steam-runtime/usr/lib/x86_64-linux-gnu/libcurl* 
```

#### Install kodak 4k pro camera and ELP usb camera udev (for Baxter)

```bash
sudo cp udev/99-kodak.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && sudo udevadm trigger
```

### ROS Workspace build

#### Build `jsk_apc` workspace (Only for baxter users)

```bash
source /opt/ros/$ROS_DISTRO/setup.bash
mkdir ~/jsk_apc_ws/src -p
cd ~/jsk_apc_ws/src
wstool init . https://raw.githubusercontent.com/start-jsk/jsk_apc/master/fc.rosinstall.${ROS_DISTRO}
wstool up
rosdep install -y -r --from-paths .

cd ~/jsk_apc_ws 
catkin config
catkin build
```

#### Build `eus_vive` workspace

```bash
source /opt/ros/$ROS_DISTRO/setup.bash
mkdir ~/vive_ws/src -p
cd ~/vive_ws/src
wstool init . https://raw.githubusercontent.com/knorth55/eus_vive/master/fc.rosinstall

# Only for baxter users
wstool merge https://raw.githubusercontent.com/knorth55/eus_vive/master/baxter.rosinstall
wstool merge https://raw.githubusercontent.com/knorth55/eus_vive/master/baxter.rosinstall.$ROS_DISTRO

# Only for dragon users
wstool merge https://raw.githubusercontent.com/knorth55/eus_vive/master/dragon.rosinstall

wstool up
rosdep install --ignore-src --from-path . -y -r -i

# Only for baxter users
source ~/jsk_apc_ws/devel/setup.bash

cd ~/vive_ws
catkin config
catkin build
```

## How to start

### Start procedure

- Connect Vive HMD and Lighthouse and power on the controller.
- Place Lighthouse B in front of you.
- Start one of launch files below.
- If you don't use HMD, press `Calibrate` button and do arm calibration.
- Press `Enable` button in GUI to start teleoperation.

### Arm calibration (Only for no HMD mode)

The arm calibration is required for no HMD mode in order to measure your position and your arm length.

- Press `Calibrate l/rarm` button in GUI
- Listen to the voice instruction.
- Stretch your left/right arm and Press Trigger after the first instruction.
- Listen to the voice instruction again.
- Fold your left/right arm and Press Trigger after the second instruction.
- If calibration failed, please try again.

### PR2 + Vive

https://user-images.githubusercontent.com/9300063/213145161-4b2acb89-9545-460a-b5cc-d05a111a187b.mp4

#### PR2 + Vive in JSK 73B2 or 610

```bash
rossetip
rossetmaster pr1040
# HMD mode
roslaunch eus_vive pr2_vive.launch
# No HMD mode
roslaunch eus_vive pr2_vive.launch head:=false
```

#### PR2 + Vive in Gazebo

```bash
roslaunch pr2_gazebo pr2_empty_world.launch
roslaunch eus_vive pr2_vive_gazebo.launch
```

### PR2 + Tablis

https://user-images.githubusercontent.com/9300063/208720417-176d698e-3789-42a8-931f-2a9fc9e062a0.mp4

#### PR2 + Tablis in JSK 73B2 or 610

```bash
rossetip
rossetmaster pr1040
roslaunch eus_vive pr2_tablis.launch
```

#### PR2 + Tablis in Gazebo

##### Launch Tablis in Choreonoid

```bash
roscd eus_vive/scripts/tablis
./start-tablis-sim.sh
```

```bash
roscd eus_vive/scripts/tablis
ipython -i tablis_setup.py
hcf.servoOn()
hcf.hc_svc.startHapticsController()
```

##### Launch bridge

```bash
roscd eus_vive/scripts/tablis
./start-bridge-sim.sh
```

##### Launch PR2 in Gazebo

```bash
roslaunch pr2_gazebo pr2_empty_world.launch
roslaunch eus_vive pr2_tablis_gazebo.launch
```

### PR2 + SpaceNav

https://user-images.githubusercontent.com/9300063/213137459-ce5f7075-acee-4a47-934a-97a4296fdc49.mp4

#### PR2 + SpaceNav in JSK 73B2

```bash
rossetip
rossetmaster pr1040
roslaunch eus_vive pr2_spacenav.launch
```

#### PR2 + SpaceNav in Gazebo

```bash
roslaunch pr2_gazebo pr2_empty_world.launch
roslaunch eus_vive pr2_spacenav_gazebo.launch
```

### Baxter + Vive

https://user-images.githubusercontent.com/9300063/213144997-0d224d5c-b462-43a7-b759-0233fff41d94.mp4

#### Baxter + Vive in JSK 73B2

##### Baxter control PC

```bash
rossetip
rossetmaster baxter
roslaunch eus_vive baxter_remote.launch
```

##### Vive PC

```bash
rossetip
rossetmaster baxter
# No HMD mode
roslaunch eus_vive baxter_vive_remote.launch
# for display
roslaunch eus_vive baxter_display_remote.launch
```

#### Baxter + Vive in Gazebo

```bash
roslaunch baxter_gazebo baxter_world.launch
roslaunch eus_vive baxter_vive_gazebo.launch
```

### Baxter + Tablis

https://user-images.githubusercontent.com/9300063/208720482-b7ef0abb-e948-448c-be51-521c0c7af8a2.mp4

#### Baxter + Tablis in JSK 73B2 or 610

```bash
rossetip
rossetmaster baxter
roslaunch eus_vive baxter_tablis.launch
```

#### Baxter + Tablis in Gazebo

##### Launch Tablis in Choreonoid

```bash
roscd eus_vive/scripts/tablis
./start-tablis-sim.sh
```

```bash
roscd eus_vive/scripts/tablis
ipython -i tablis_setup.py
hcf.servoOn()
hcf.hc_svc.startHapticsController()
```

##### Launch bridge

```bash
roscd eus_vive/scripts/tablis
./start-bridge-sim.sh
```

##### Launch Baxter in Choreonoid

```bash
roslaunch baxter_gazebo baxter_world.launch
roslaunch eus_vive baxter_tablis_gazebo.launch
```

### Baxter + SpaceNav

#### Baxter + SpaceNav in JSK 73B2

```bash
rossetip
rossetmaster baxter
roslaunch eus_vive baxter_spacenav.launch
```

#### Baxter + SpaceNav in Gazebo

```bash
roslaunch baxter_gazebo baxter_world.launch
roslaunch eus_vive baxter_spacenav_gazebo.launch
```

### Baxter + MoveIt!

#### Real Robot in JSK 73B2

```bash
rossetip
rossetmaster baxter
roslaunch eus_vive baxter_moveit.launch
```

### Dragon + SpaceNav

https://user-images.githubusercontent.com/9300063/210754022-7df92fd5-4875-4465-9738-7efdf5649093.mp4

#### Dragon + SpaceNav in Gazebo

```bash
roslaunch dragon bringup.launch simulation:=true real_machine:=false headless:=false
roslaunch eus_vive dragon_spacenav_gazebo.launch
```

### JAXON + SpaceNav

https://user-images.githubusercontent.com/9300063/212047815-e1f2a5ed-cf51-4782-b892-66752effe41d.mp4

#### JAXON + SpaceNav in Choreonoid

##### Launch JAXON in Choreonoid

```bash
roscd eus_vive/scripts/jaxon
./start-jaxon_with_rhp3hand-sim.sh
```

```bash
roscd eus_vive/scripts/jaxon
ipython -i jaxon_with_rhp3hand_setup.py
hcf.ast_svc.startAutoBalancer()
hcf.ast_svc.startStabilizer()
hcf.ast_svc.startWholeBodyMasterSlave()
```

##### Launch eus\_vive for SpaceNav

```bash
roslaunch eus_vive jaxon_spacenav_choreonoid.launch
```

### JAXON + Tablis

https://user-images.githubusercontent.com/9300063/212932317-407102d1-093f-4729-b00a-f367bbbcb40d.mp4

#### JAXON + Tablis in Choreonoid

##### Launch Tablis in Choreonoid

```bash
roscd eus_vive/scripts/tablis
./start-tablis-sim.sh
```

```bash
roscd eus_vive/scripts/tablis
ipython -i tablis_setup.py
hcf.servoOn()
hcf.hc_svc.startHapticsController()
```

##### Launch JAXON in Choreonoid

```bash
roscd eus_vive/scripts/jaxon
./start-jaxon_with_rhp3hand-sim.sh
```

```bash
roscd eus_vive/scripts/jaxon
ipython -i jaxon_with_rhp3hand_setup.py
hcf.ast_svc.startAutoBalancer()
hcf.ast_svc.startStabilizer()
hcf.ast_svc.startWholeBodyMasterSlave()
```

##### Launch bridge and wbms core

```bash
roscd eus_vive/scripts/jaxon
./start-jaxon-eus-vive-sim.sh
```

##### Launch eus\_vive for Tablis

```bash
roslaunch eus_vive jaxon_tablis_choreonoid.launch
```

### Demo & Experiments

#### Miraikan Demo 2019/08/23-24

```bash
rossetip
rossetmaster baxter
roslaunch eus_vive baxter_vive_mirror.launch
```

#### Miraikan Demo 2020/09/11-13

##### Robot control PC (Robot side)

```bash
rossetip
rossetmaster baxter
roslaunch eus_vive baxter_remote.launch
```

##### Vive control PC (Pilot side)

```bash
rossetip
rossetmaster baxter
roslaunch eus_vive baxter_vive_remote.launch
```

##### Visualization, display and feedback PC (Pilot side)

```bash
rossetip
rossetmaster baxter
roslaunch eus_vive baxter_display_remote.launch
```

## How to use Vive controller

![Vive controller](https://www.vive.com/media/filer_public/e3/da/e3daf208-4d4e-4adf-b911-22f9458ab883/guid-2d5454b7-1225-449c-b5e5-50a5ea4184d6-web.png)

### PR2

#### Arm mode

You can enable arm mode of right and left arm separately.

#### Base mode

Base mode is enabled when both arms are disabled in Arm mode.

### Baxter

#### Arm mode

You can enable arm mode of right and left arm separately.

## How to use GUI control

### Teleoperation control buttons

### Arm & Gripper control buttons

## Tips

### Baxter Network Configuration

Open [Field Service Menu](https://sdk.rethinkrobotics.com/wiki/Field_Service_Menu_(FSM)) and change network configuration

### VPNC Install

```bash
sudo apt install libgcrypt20-dev libgnutls28-dev
git clone https://github.com/streambinder/vpnc.git
cd vpnc
git checkout 1cf24ed6aa4a04b4b01cc9ebfacbad723eed04f5
make
sudo make install
cd ..
git clone git://git.infradead.org/users/dwmw2/vpnc-scripts.git
cd vpnc-scripts
sudo cp vpnc-script /etc/vpnc
```

### VPNC Command for Fortigate

```bash
sudo vpnc --local-port 0 --gateway <gateway> --id ipsecvpn --username <username> --pfs dh5 --dh dh5 --auth-mode psk --no-detach --vendor fortigate --dh dh5
```

## Demo Video

### PR2 Fridge demo

- [Trial 1](https://drive.google.com/open?id=1NsNnplM9bZQi78BY5IJC7CGwROcHd_Nc)
- [Trial 2](https://drive.google.com/open?id=1BSpfWCgKMXQykrTQrrrhYMP5UryFPHr7)
- [Trial 3](https://drive.google.com/open?id=13E_h0JvgZn_RpvnEMDYGR6lNazLvFG0w)

### Baxter APC demo

- [Trial 1](https://drive.google.com/open?id=156y7_M6OwD9z6B4RKwZ0UPLnyHKaNKFm)
- [Trial 2](https://drive.google.com/open?id=1Qb0k0Uzj0pTZhNvM7VIgD6g0RC1ohqg1)
- [Trial 3](https://drive.google.com/open?id=10XZ_5bBKgEk_QqtONCfnXYRLKTE6rpgE)
- [Trial 4](https://drive.google.com/open?id=1IyVME3OggckIfDYCDwIjQmdNneWYdXWd)
- [Trial 5](https://drive.google.com/open?id=1jwq_UdDzgDf-UfBpAS0G0KeykvZ-gLhW)

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