DrawZeroPoint / CURI-Walker

Team CURI‘s WAIC 2020 Walker competition codebase (3rd place in the final)

CURI-Walker

Team CURI's solution for World Artificial Intelligence Conference (WAIC) 2020 Walker challenge competition. Source Code

Pre-requests

Ubuntu 18.04, ROS Melodic, Webots R2020a

Project structure

ubt_sim_ws

The catkin workspace for development. Two official packages named example and ubt_core_msgs exist in src/. Besides that, we have a series of packages started with walker_ prefix that are tailored for this contest, with the exception of the hope package, which is based on a prior work of our team.

A comprehensive introduction of the customized packages is as follows:

hope: The object detection package that could detect horizontal planes and objects on the plane given the point cloud of the scene. We use this in GraspCup, PushCart, and OpenFridge tasks, which helps for locating the cup to grasp, the cart, or the fridge.

walker_brain: The primary entrance for solving the tasks. Refer its README for details.

walker_description: URDF and meshes for the Walker robot.

walker_moveit_config: MoveIt! configure files generated from walker description.

walker_movement: Primary control functionalists.

walker_nav: Primary navigation stack.

walker_webots_hardware_interface: Interface for interacting with the Webots simulator.

walker_install

Official pre-built gait package.

walker_model

Official Webots model and controllers. No modification should be carried out in this part.

Installation

1. In ~, git clone --recrusive https://github.com/DrawZeroPoint/CURI-Walker.git. You could manually re-create the ubt_sim_ws following this ROS instruction, and then move the contents back.

2. In new terminal, source /opt/ros/molodic/setup.bash, and then source ~/CURI-Walker/walker_install/setup.bash, and finally catkin_make in ubt_sim_ws.

3. Add source ~/CURI-Walker/ubt_sim_ws/devel/setup.bash into ~/.bashrc. After that, echo $ROS_PACKAGE_PATH should give some output like this: /home/x/CURI-Walker/ubt_sim_ws/src:/home/x/CURI-Walker/walker_install/share:/opt/ros/melodic/share

Execution

1. Run roscore

2. Start Webots, open WAIC.wbt in walker_model/worlds/WAIC.wbt

3. Refer README in walker_brain for usage guide.

4. Prepare to record the videos with kazam.

Launching MoveIt

To control the Walker robot via MoveIt you can use moveit.launch from the walker_webots_hardware_interface package. This launcher will start the MoveIt move_group, together with the hardware interface to the simulated robot.

roslaunch walker_webots_hardware_interface moveit.launch show_rviz:=true

This configuration allows to control via MoveIt the arms, the head and the legs of the Walker robot. By default the legs control is disabled to avoid interference with the gait module, you can enable it using enable_legs:=true

NOTE: for this to work you may need to install additional system packages, you can use rosdep to install them automatically. Just move to ubt_sim_ws and run:

rosdep install --from-paths src --ignore-src -r -y

Implementation details

Three different packages have been defined to handle the robot control.

• walker_description provides the urdf and the 3D meshes that represent the robot
• walker_moveit_config defines the MoveIt configuration
• walker_webots_hardware_interface provides the hardware_interface that connects the simulated robot to MoveIt.

Cheat sheet

Webots API

Services

Name	Type	Content
/walker/sence	webots_api/SceneSelection	.scene_name “SwitchLight”, “GraspCup”, “PushCart”, “OpenFridge”, “CarryBox”, “Upstairs” .nav true, false .vision true, false

Task-scene relation

scene name	nav/vision	task
SwitchLight	F/F	1
GraspCup	F/F	2
	F/T	3
	T/F	4
	T/F	5
PushCart	F/F	6
	F/T	7
	T/F	8
	T/F	9
OpenFridge	F/F	10
	F/T	11
	T/F	12
	T/F	13
CarryBox	F/F	14
Upstairs	F/F	15

Topics

Name	Type	Content
/Leg/DesiredJoint	sensor_msgs/JointState
/walker/Leg/MeasuredJoint	sensor_msgs/JointState
/sensor/head_imu	sensor_msgs/Imu
/sensor/orientus_imu	sensor_msgs/Imu
/sensor/camera_imu	sensor_msgs/Imu
/sensor/ft/lankle	geometry_msgs/WrenchStamped
/sensor/ft/lwrist	geometry_msgs/WrenchStamped
/sensor/ft/rankle	geometry_msgs/WrenchStamped
/sensor/ft/rwrist	geometry_msgs/WrenchStamped
/walker/camera/bottomDepth	sensor_msgs/Image
/walker/camera/bottomRGB	sensor_msgs/Image
/walker/camera/doubleLeftRGB	sensor_msgs/Image
/walker/camera/doubleRightRGB	sensor_msgs/Image
/walker/camera/headDepth	sensor_msgs/Image	+z: front, +x: right
/walker/camera/headRGB	sensor_msgs/Image
/walker/camera/topDepth	sensor_msgs/Image
/walker/camera/topRGB	sensor_msgs/Image
/walker/head/controller	ubt_core_msgs/JointCommand	.mode 5 (P), 6 (V), 7 (F) .command.resize(2) [0] HeadYaw, [1] HeadPitch
/walker/head/joint_states	sensor_msgs/JointState
/walker/leftHand/controller	ubt_core_msgs/JointCommand	.mode 5 (P), 6 (V), 7 (F) .command.resize(10) [0] LFirstFinger1, [1] LFirstFinger2, [2] LSecondFinger1, [3] LSecondFinger2, [4] LThirdFinger1, [5] LThirdFinger2, [6] LForthFinger1, [7] LForthFinger2, [8] LFifthFinger1, [9] LFifthFinger2
/walker/leftHand/joint_states	sensor_msgs/JointState
/walker/leftLimb/controller	ubt_core_msgs/JointCommand	.mode 5 (P), 6 (V), 7 (F) .command.resize(7) [0] LShoulderPitch, [1] LShoulderRoll, [2] LShoulderYaw, [3] LElbowRoll, [4] LElbowYaw, [5] LWristPitch, [6] LWristRoll
/walker/leftLimb/joint_states	sensor_msgs/JointState
/walker/rightHand/controller	ubt_core_msgs/JointCommand	.mode 5 (P), 6 (V), 7 (F) .command.resize(10) [0] RFirstFinger1, [1] RFirstFinger2, [2] RSecondFinger1, [3] RSecondFinger2, [4] RThirdFinger1, [5] RThirdFinger2, [6] RForthFinger1, [7] RForthFinger2, [8] RFifthFinger1, [9] RFifthFinger2
/walker/rightHand/joint_states	sensor_msgs/JointState
/walker/rightLimb/controller	ubt_core_msgs/JointCommand	.mode 5 (P), 6 (V), 7 (F) .command.resize(7) [0] RShoulderPitch, [1] RShoulderRoll, [2] RShoulderYaw, [3] RElbowRoll, [4] RElbowYaw, [5] RWristPitch, [6] RWristRoll
/walker/rightLimb/joint_states	sensor_msgs/JointState
/walker/ultrasound/leftBack	sensor_msgs/Range
/walker/ultrasound/leftFront	sensor_msgs/Range
/walker/ultrasound/middleBack	sensor_msgs/Range
/walker/ultrasound/rightBack	sensor_msgs/Range
/walker/ultrasound/rightFront	sensor_msgs/Range

Gait API

Services

Name	Type	Content
/Leg/TaskScheduler	walker_srvs	.func_name “dynamic” .param_json “” .cmd “start”, “stop”

Topics

Name	Type	Content
/ID_status	std_msgs/String
/Leg/BodyPlanner	geometry_msgs/Point
/Leg/CmdToDynamic	std_msgs/Int64
/Leg/DesiredJoint	sensor_msgs/JointState
/Leg/DisLeft2Arm	sensor_msgs/JointState
/Leg/DisRight2Arm	sensor_msgs/JointState
/Leg/FixedPlanning	geometry_msgs/Pose2D
/Leg/Joint2Sim	sensor_msgs/JointState
/Leg/RandomOutput	geometry_msgs/PointStamped
/Leg/StepNum	std_msgs/Int64
/Leg/StopfromScript	std_msgs/Bool
/Leg/WaistPoseDesired	geometry_msgs/PoseStamped
/Leg/WaistPoseMeasured	geometry_msgs/PoseStamped
/Leg/dis_waist2ankle_left	geometry_msgs/Point
/Leg/dis_waist2ankle_right	geometry_msgs/Point
/Leg/footpose2camera	geometry_msgs/PoseStamped
/Leg/footpose2waist	geometry_msgs/PoseStamped
/Leg/left_leg_ground	std_msgs/Bool
/Leg/leg_status	std_msgs/String
/Leg/robot_vel	geometry_msgs/Pose2D
/Leg/walking_odom	nav_msgs/Odometry
/Leg/walking_status	std_msgs/String
/Robot_mode	geometry_msgs/Twist
/astra_aruco/markers	aruco_msgs/MarkerArray
/astra_aruco_marker_publisher_2/markers	aruco_msgs/MarkerArray
/nav/cmd_vel_nav	geometry_msgs/Twist
/tf	tf2_msgs/TFMessage

Issues

1. The Webots simulator could not run in real-time.

   According to the official statement, the dynamic simulation is time consuming where 0.2x real-time is an reasonable performance, so no need to worry about that and the finial videos will be judged basing on the simulation time.

2. Webots crash on startup.

   /usr/local/bin/webots: line 86: 27518 Segmentation fault (core dumped) "$webots_home/bin/webots-bin" "$@"

   Rollback any changes in the file walker_model/worlds/.WAIC.wbproj