Scenic Gazebo PR #246
Scenic Gazebo PR #246
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@Kai-X-Org Should I go ahead and close #215 ? |
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Hi Eric!
Yes, please close this PR. The new one is the good one. Thank you so much!
Sincerely,
Kai Xu
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@Kai-X-Org <https://github.com/Kai-X-Org> Should I go ahead and close #215
<#215> ?
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@Kai-X-Org I have been experimenting with some of the gazebo installations and had a couple of items that I wanted to flag as well that were pain points and unclear:
- How can we tell if pre-requisites and installation is successful? Can we provide a set of commands/script to run to determine this?
- Specifically, when installing Scenic I had trouble installing all the dependencies outside of a virtual environment. To do so can we instruct folks to (a) download the repo navigate to the root and then run (b)
/usr/bin/python3 -m pip install -e . - I think we may need to have to add some more dependencies within the
pyproject.tomlin order to follow a clean installation process for Gazebo, namely I had to pip install the following on a clean environment since they were not readily available:
pyyaml
rospkg
defusedxml
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| ## Instructions for Use | ||
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| 1. Before running Scenic, start the Gazebo simulator with ROS, launch and bringup any ROS stack you need, and unpause the |
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Can we give explicit example commands to be run for this? It is a bit unclear as to how to do so!
| 1. Before running Scenic, start the Gazebo simulator with ROS, launch and bringup any ROS stack you need, and unpause the | ||
| simulation. | ||
| 2. Open a separate terminal, run `scenic <YOUR PROGRAM>.scenic --simulate`(see https://scenic-lang.readthedocs.io/en/latest/options.html for more | ||
| command-line options). Make sure you sourced the corresponding `.bash` or `.zsh` needed to run your simulaton in this terminal, too!. |
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By sourcing to run the simulation do you mean source /opt/ros/noetic/setup.bash? If so I think we should make explicit mention of that here!
| while (t1.secs + t1.nsecs/(10**9) - t0.secs - t0.nsecs/(10**9)) < wait_time: | ||
| wait | ||
| t1 = rospy.get_rostime() | ||
| # print((t1.secs + t1.nsecs/(10**9) - t0.secs - t0.nsecs/(10**9))) |
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nit: remove print statement
| ResetGazeboWorldAndSim, | ||
| UnpauseGazebo, | ||
| ) | ||
| from scenic.simulators.Gazebo.utils.state_utils import ( # GetGazeboWorldModelNames,; GetGazeboWorldProperties, |
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nit: remove commented out imports
| - Other than the official installation, ROS Noetic can also be installed with [RoboStack](https://robostack.github.io/index.html), which can be helpful if you are on MacOS or Windows. | ||
| - Before you install, it might be good to consider installing Scenic outside any virtual environment for Gazebo/ROS purposes since Gazebo/ROS utilizes some Ubuntu native packages that is difficult to get from conda/pip | ||
| - When installing Scenic, please do the "Repository" install outlined in this page: https://scenic-lang.readthedocs.io/en/latest/quickstart.html#installation | ||
| - For the Sawyer simulator, please install according to the instruction here: https://github.com/RethinkRobotics/sawyer_simulator |
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This link was unclear on where to find the installation instructions. I ended up using the installation instructions from the tutorial: https://support.rethinkrobotics.com/support/solutions/articles/80000980381-gazebo-tutorial
| - Before you install, it might be good to consider installing Scenic outside any virtual environment for Gazebo/ROS purposes since Gazebo/ROS utilizes some Ubuntu native packages that is difficult to get from conda/pip | ||
| - When installing Scenic, please do the "Repository" install outlined in this page: https://scenic-lang.readthedocs.io/en/latest/quickstart.html#installation | ||
| - For the Sawyer simulator, please install according to the instruction here: https://github.com/RethinkRobotics/sawyer_simulator | ||
| - For object models (sdf files), please clone this repo into the interface directory: https://github.com/osrf/gazebo_models |
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Also here where do we clone? Where should this be placed?
| @@ -0,0 +1,49 @@ | |||
| model scenic.simulators.Gazebo_sawyer.model | |||
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This entire file should be moved to examples/gazebo_sawyer/example.scenic. Also, we should create an example/gazebo directory and place some example files under there as well!
Description
Adds in the Scenic Gazebo template interface and the example implementation for the Sawyer
Additional Notes
Please ignore the previous PR as that one had some uncleaned comments here and there.
Documentation is in the README in each interface folder. Thank you so much!