Running instructions

Prequisites

Requires Ubuntu 20.04 running ROS Noetic

Install Package Dependencies

Run:

sudo snap install --classic code

sudo apt install ros-noetic-catkin

sudo apt install python3-catkin-tools

sudo apt install python3-wstool

sudo apt install ros-noetic-moveit

sudo apt install ros-noetic-trac-ik-kinematics-plugin

sudo apt install ros-noetic-moveit-kinematics

sudo apt install ros-noetic-position-controllers

sudo apt install ros-noetic-effort-controllers

sudo apt install ros-noetic-joint-trajectory-controller

sudo apt install python3-pip

sudo apt install ros-noetic-object-recognition-msgs

sudo apt install ros-noetic-realsense2-camera

sudo apt install ros-noetic-realsense2-description

sudo pip install squaternion

sudo pip install pyrealsense2

sudo pip install opencv-python

sudo pip install numpy

Install CUDA

Install the NVIDIA driver:

sudo apt install nvidia-driver-495

Reboot the system so the new driver takes effect.
Now, download the CUDA 11.5.0 .run file from NVIDIA:

wget https://developer.download.nvidia.com/compute/cuda/11.5.0/local_installers/cuda_11.5.0_495.29.05_linux.run

Run the .run file as sudo:

sudo sh ./cuda_11.5.0_495.29.05_linux.run

If you get the following, just choose Continue:

Accept the EULA:

Unselect the video driver by pressing the spacebar while [X] Driver is highlighted:

Then press the down arrow to Install. Press Enter then wait for installation to complete.
After the installation is complete add the following to the bottom of your ~/.profile or add it to the /etc/profile.d/cuda.sh file which you might have to create for all users (global):

# set PATH for cuda 11.5 installation
if [ -d "/usr/local/cuda-11.5/bin/" ]; then
    export PATH=/usr/local/cuda-11.5/bin${PATH:+:${PATH}}
    export LD_LIBRARY_PATH=/usr/local/cuda-11.5/lib64${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}
fi

Install libcudnn8

Add the Repo:

NOTE: The 20.04 repo from NVIDIA does not supply libcudnn but the 18.04 repo does and installs just fine into 20.04.

echo "deb http://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1804/x86_64 /" | sudo tee /etc/apt/sources.list.d/cuda_learn.list

Install the key:

sudo apt-key adv --fetch-keys  http://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/7fa2af80.pub

Update the system:

sudo apt update

Install libcudnn 8.0.4:

sudo apt install libcudnn8

I recommend now to reboot the system for the changes to take effect.

After it reboots check the installations:

Setup

Clone the GIT rep:

cd <CATKIN_WS_NAME>/src
git clone <GIT_URL>

Set up credential helper:

git config credential.helper store

Username for 'https://github.com':

mifoodrobot

Password for 'https://Justin-Riekehof@github.com':

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

Source the setup.bash of the workspace by default:

source ~/<CATKIN_WS_NAME>/devel/setup.bash

Add "export DOBOT_TYPE=nova5" to ~/.bashrc file:

echo "export DOBOT_TYPE=nova5" >> ~/.bashrc

Make python scripts executable:

cd ~/<CATKIN_WS_NAME>/src/MiFood/HarvestingRobot/src/dobot_control/src
sudo chmod +x pick_strawberry.py

Load header files via VS Code:

code

Open CATKIN workspace source folder in VS Code and with CTRL+P search for dh_gripper_Test.cpp
Build the CATKIN workspace:

cd ~/<CATKIN_WS_NAME>
catkin_make

Running The Simulation

Run:

roslaunch dobot_control simulation.launch

roslaunch dobot_moveit moveit.launch

rosrun dobot_control pick_strawberry.py

NOTE: The scripts must be ran in that order due to subscriber connections.

J87 / justin