Basic Simulation With Teleoperation

Learning Objective

The tutorial will show you how to simulate a robot in a 3D world using rapyuta.io

Prerequisites

  1. The CPU architecture of the device is AMD64.
  2. The version of ROS running on the device is ROS Melodic.
  3. Install the Google Chrome browser.
  4. Be familiar with git, UNIX/LINUX command terminal.

Difficulty

Intermediate

Estimated Time

30 minutes

Tutorial Walkthrough

In this tutorial, you will first add a device to rapyuta.io. You will run turtlebot3 simulation on the cloud, and then run keyboard teleoperation from the device.

Add a Device

  1. On the left navigation bar, click DEVICES.
  2. Click ADD NEW DEVICE.
  3. The name of the device is Teleop Device
  4. Select Use docker compose as default runtime option.
  5. Select Melodic as ROS Version.
  6. In the Description box, type in demonstrate communication to Gazebo simulation running on the cloud.
  7. Click CONTINUE.
  8. Click COPY to copy the generated token.
  9. Run the copied token in the device’s terminal. The token sets up rapyuta.io device agent on the device.

When the device is successfully registered, you will see a green dot next to the device’s name, indicating that the device is online.

Create Packages

You will create two packages in the tutorial.

Turtlebot3 Robot Simulation Package

  1. On the left navigation bar, click CATALOG.
  2. Click ADD NEW PACKAGE.
  3. The name of the package is Turtlebot3 Robot Simulation.
  4. Make sure Is a singleton package is not selected.
  5. Ensure Is a bindable package is selected.
  6. The version of the package is 1.0.0
  7. The purpose of the package is to run Gazebo simulation on the cloud
  8. Click NEXT.
  9. The name of the component is Simulator.
  10. The runtime of the component is Cloud.
  11. Ensure Is ROS Component is selected.
  12. Choose Melodic for ROS Version.
  13. The number of replicas to run the component is 1
  14. The name of the executable is turtlebot3_autotrace_launcher
  15. The Executable Type is Git.
  16. The Git Repository is https://github.com/rapyuta-robotics/io_simulation_tutorials
  17. In the Command to run in the docker container box, enter the command: roslaunch turtlebot3_gazebo turtlebot3_autorace.launch
  18. The context directory is turtlebot_teleoperation
  19. Select Simulation option. Enabling simulation feature automatically adds a Gazebo simulation specific endpoint, topics, services, inbound ROS interfaces, and a configuration parameter.
  20. Set Resource Limit to Med:2 cpu cores, 8 GiB memory.

    For simulation, the resource limit should either be Med or High. Simulation has issues with Low resource limits.

  21. Under Catkin Build Parameters,
    1. add the following ROS Packages:turtlebot3_gazebo turtlebot3_description
    2. add the following packages to Blacklist: turtlebot3 turtlebot3_bringup turtlebot3_example turtlebot3_navigation turtlebot3_slam
  22. Click Add Topic under Inbound ROS Interfaces to add the ROS topic a deployment of this package subscribes to for velocity commands. The name of the topic is /cmd_vel
  23. Click CONFIRM PACKAGE CREATION.

The package takes a couple of minutes to build the source code in io_simulation_tutorials repository into a running docker container. You may analyze the corresponding build logs, which help debug failing builds. A flickering yellow dot against the name of the package indicates that the Build Status is New, while a green dot indicates that the Build Status is Complete.

Additionally, when the Deploy package button is automatically enabled, it indicates that the Turtlebot3 Robot Simulation package is successfully built and is ready to be deployed.

Turtlebot3 Keyboard Teleoperation Package

  1. On the left navigation bar, click CATALOG.
  2. Click ADD NEW PACKAGE.
  3. The name of the package is Turtlebot3 Keyboard Teleoperation
  4. The version number of the package is 1.0.0
  5. Make sure Is a singleton package is not selected.
  6. Ensure Is a bindable package is selected.
  7. The purpose of the package is to control the robot using the keyboard.
  8. The name of the component is teleop
  9. The runtime of the component is Device.
  10. Ensure Is ROS Component is selected.
  11. Select Melodic for ROS Version.
  12. The CPU architecture is amd64.
  13. Set Restart Policy to Always.
  14. The name of the executable is sleep
  15. The Executable Type is Git.
  16. The Git Repository is https://github.com/ROBOTIS-GIT/turtlebot3#melodic-devel
  17. In the Command to run in the docker container box, enter the command: sleep infinity

    The command, sleep infinity, will keep the deployment running and does not serve any other purpose.

  18. In Catkin Build Parameters,
    1. add the following ROS Packages:turtlebot3_teleop
    2. add the following packages to Blacklist:turtlebot3 turtlebot3_bringup turtlebot3_example turtlebot3_navigation turtlebot3_slam turtlebot3_description
  19. Add a ROS topic by clicking on Add ROS topic. The name of the topic is /cmd_vel, and its QoS is set to Low.
  20. Click NEXT > CONFIRM PACKAGE CREATION.

The package takes a couple of minutes to build the source code in turtlebot3 repository into a running docker container. You may analyze the corresponding build logs, which help debug failing builds. A flickering yellow dot against the name of the package indicates that the Build Status is New, while a green dot indicates that the Build Status is Complete.

Additionally, when the Deploy package button is automatically enabled, it indicates that the Turtlebot3 Keyboard Teleoperation package is successfully built and is ready to be deployed.

Deploy Packages

You will deploy all the packages created in the previous step.

Robot Simulation

  1. On the left navigation bar, click CATALOG.
  2. Select Turtlebot3 Robot Simulation package.
  3. Click Deploy Package.
  4. The name of the deployment is ROBOT SIMULATION
  5. Enter the value for VNC_PASSWORD.
  6. Click CREATE DEPLOYMENT > Confirm.

You will be redirected to the Details tab of the newly created deployment. The ROBOT SIMULATION is successfully running if the progress bar reaches Succeeded, and the status is Running.

Keyboard Teleoperation

  1. On the left navigation bar, click CATALOG.
  2. Select Turtlebot3 Keyboard Teleoperation package.
  3. Click Deploy Package.
  4. The name of the deployment is KEYBOARD TELEOPERATION
  5. Select Teleop Device to deploy the teleop component.
  6. Add ROBOT SIMULATION as a dependent deployment by clicking Add dependency.
  7. Click CREATE DEPLOYMENT > Confirm.

You can verify if KEYBOARD TELEOPERATION is running successfully by checking if the progress bar reaches Succeeded and status is Running.

Simulation

  1. On the Details tab of ROBOT SIMULATION deployment, copy the value of the network endpoint vnc.
  2. Paste the copied URL address in the address bar of the web browser and press Enter.
  3. Enter the value of VNC_PASSWORD, which you provided while deploying the package, when prompted. You will view the 3D world and the Teleop Device (robot) inside it.
  4. Go to the Shell Access tab of KEYBOARD TELEOPERATION deployment, and click on SSH.
  5. Enter the following commands in sequence:
    1. bash
    2. . /opt/catkin_ws/devel/setup.bash
    3. TURTLEBOT3_MODEL=burger roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
  6. Try controlling the robot using the keyboard commands shown in ther terminal output. To see how the robot moves, switch to the Gazebo simulation browser tab.
  7. To reset simulation, Ctrl+C and then run rosservice call /gazebo/reset_simulation