XR4Human ROS Package

This repository provides a comprehensive ROS 1 Noetic package tailored for the XR4Human project. It integrates the Franka Emika Panda robot with MoveIt! for motion planning, facilitates Unity-ROS communication via ros_tcp_endpoint, and supports advanced functionalities for human-robot interaction in extended reality (XR) environments.

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🚀 Prerequisites

Ensure your system meets the following requirements:

• Operating System: Ubuntu 20.04 LTS (Focal Fossa)
• ROS Distribution: ROS Noetic Ninjemys
• Robot Hardware: Franka Emika Panda

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🛠️ Installation

1. Install ROS Noetic

Follow the official ROS Noetic installation guide for Ubuntu 20.04:

sudo apt update
sudo apt install curl gnupg2 lsb-release
curl -sSL http://packages.ros.org/ros.key | sudo apt-key add -
echo "deb [arch=amd64] http://packages.ros.org/ros/ubuntu $(lsb_release -c | awk '{print $2}') main" | sudo tee /etc/apt/sources.list.d/ros-latest.list
sudo apt update
sudo apt install ros-noetic-desktop-full

Initialize rosdep:

sudo rosdep init
rosdep update

Set up the ROS environment:

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

2. Install Franka ROS Interface

Install the Franka ROS interface:

sudo apt install ros-noetic-franka-ros

For detailed setup instructions, refer to the Franka ROS Interface documentation.

3. Install MoveIt! for ROS Noetic

Install MoveIt!:

sudo apt install ros-noetic-moveit

For more information, visit the MoveIt! installation guide.

4. Install Panda MoveIt! Configuration

Clone the panda_moveit_config repository:

cd ~/catkin_ws/src
git clone https://github.com/moveit/panda_moveit_config.git
cd ..
catkin_make
source devel/setup.bash

For setup assistance, refer to the MoveIt! Setup Assistant tutorial.

5. Install Unity-ROS Communication via ros_tcp_endpoint

Clone the ros_tcp_endpoint repository:

cd ~/catkin_ws/src
git clone https://github.com/Unity-Technologies/ROS-TCP-Endpoint.git
cd ..
catkin_make
source devel/setup.bash

For detailed instructions, visit the ROS-TCP-Endpoint GitHub repository.

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📦 Usage

1. Launch MoveIt! with Panda Configuration

In another terminal:

roslaunch panda_moveit_config franka_control.launch robot_ip:=<robot_ip> load_gripper:=true

2. Start Unity-ROS Communication

In a new terminal:

roslaunch ros_tcp_endpoint endpoint.launch tcp_ip:=<ros_host>

Ensure that Unity is configured to connect to the ROS endpoint.

3. Start xr4human_ros_pkg

In a new terminal:

rosrun XR4Humna_ROS_PKG robot_rack_picking.py

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📄 License

This project is licensed under the MIT License. See the LICENSE file for details.

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📞 Contact

For support or inquiries, please contact knezevic@etf.rs.