RMUS Operation

Start Server

Terminal 1

cd ./ICRA-RM-Sim2Real/docker_server
./exec_server.sh
roscore

Terminal 2

cd ./ICRA-RM-Sim2Real/docker_server
./exec_server.sh
cd ~/ros_x_habitat_ws/src/ros_x_habitat/
python3 src/scripts/roam_with_joy.py --hab-env-config-path ./configs/roam_configs/pointnav_rgbd_roam_mp3d_test_scenes.yaml

Start Client

Terminal 1 ->Navigation

sudo docker start sim2real_client
cd ICRA-RM-Sim2Real/docker_client
./exec_client.sh

Then roslaunch 

-> roslaunch rtab_navigation rtab_navigation.launch
-> roslaunch carto_navigation navigation.launch

Termiunal 2 ->Detect

roscd ep_detect_and_grasp
python3 detect_cube.py

Termianl 3 ->Grasp

roscd ep_detect_and_grasp
python3 place_cube.py

Control

cd ./ICRA-RM-Sim2Real/docker_server
./exec_server.sh
rosrun teleop_twist_keyboard teleop_twist_keyboard.py

Note

Press q, z, increase or decrease the speed of the robot.
Press i， j， ， ， l， to control forward/backward/rotation.
Press I， J， <， L， to control the horizontal movement.
Press k, stop the robot moving.
Press 1, to move the robotic arm to the place to grab up.
Press 2， to move the robotic arm to the place to place down.
Press 3， to pick the ore.
Press 4， to place the ore.