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launch_sequences.txt
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############ Launch Sequence for experiments in Qolo robot ##########
ssh -X qolo@192.168.13.XXX
main UpBoard 110
Frontal Lidar 120
Hasler 130
Nvidia board 200
pass
============== Qolo DEMO - RDS/Compliance ==========================
#### Establish 2 connetcions to main UpBoard 110
#### Establish 1 connetcion to Forntal Upboard 120
#### Establish 2 connetcion to Nvidia Board 200
### Check that all dates and times are the same on all PCs ###
date
### If a PC is out of sync it might be that the internal NTP server went down ###
Manual setup:
sudo /etc/init.d/ntp restart
sudo ntpd -q 192.168.13.110
1 main-pc-110 terminal:
rosclean purge -y
roscore
2. front-pc-120 terminal:
########### For Using MDS only ###########
sudo ntpd -q 192.168.13.110
rosclean purge -y
cd ~/autonomy_ws/
. devel/setup.bash
rosrun qolo_modulation run_localisation.sh
########### For Using RDS ###########
// RDS with detections only:
roslaunch rds_ros rds_front_lrf.launch det:="true"
// Run modulation + Laser-scan-matcher
rosrun qolo_modulation run_localisation.sh
// Run rds + Laser-scan-matcher
rosrun rds_ros run_rds_localisation.sh
// Launching only RDS with Lidar + People tracking:
roslaunch rds_ros rds_front_lrf.launch
########### For Using MDS or RDS ###########
rosrun qolo_modulation qolo_simulation_modulation.py
3. Nvidia-200 terminal: Start front-left camera
sudo ntpd -q 192.168.13.110
rosclean purge -y
cd /ssd_nvidia/autonomy_ws
. devel/setup.bash
roslaunch realsense2_camera qolo_localization_t265.launch
%% --> WAIT 15seconds BEFORE THE NEXT CAMERA LAUNCH
4. Nvidia-200 terminal: Start front-left camera
cd /ssd_nvidia/autonomy_ws
. devel/setup.bash
roslaunch realsense2_camera qolo_left_camera.launch
// Localization + left-front camera
roslaunch realsense2_camera qolo_localization_rgbd.launch
## Alterrnatively:
// Only Camera
roslaunch realsense2_camera qolo_left_camera.launch
// Localization only
roslaunch realsense2_camera qolo_localization_t265.launch
5. main-pc-110 terminal: Starting main Qolo node
sudo -s
####### RDS-Shared-control + Compliant #######
cd ~/catkin_ws/
. devel/setup.bash
rosrun qolo comlpiant_shared_qolo.sh
###### Torso Control with Compliance #######
cd ~/catkin_ws/
. devel/setup.bash
rosrun qolo manual_compliant_qolo.sh
###### RDS - with Compliance + Shared-control + Remote #######
cd ~/catkin_ws/
. devel/setup.bash
rosrun qolo compliant_remote_shared_qolo.sh
###### MDS - with Compliance + Shared-control + Remote #######
cd ~/catkin_ws/
. devel/setup.bash
rosrun qolo compliant_mds_shared_qolo.sh
###### MDS with Compliance + Attractor-DS #######
cd ~/catkin_ws/
. devel/setup.bash
rosrun qolo compliant_modulation_qolo.sh
####### Compliant-DS only #######
cd ~/catkin_ws/
. devel/setup.bash
rosrun qolo run_compliant_test.sh
####### RDS + Attractor-DS #######
cd ~/catkin_ws/
. devel/setup.bash
rosrun qolo remote_qolo.sh
####### Modulated + Attractor-DS #######
cd ~/catkin_ws/
. devel/setup.bash
rosrun qolo modulation_qolo.sh
####### RDS-Shared-control #######
cd ~/catkin_ws/
. devel/setup.bash
rosrun qolo shared_qolo.sh
###### Compliance + Attractor-DS #######
cd ~/catkin_ws/
. devel/setup.bash
rosrun qolo compliant_remote_qolo.sh
###### Localization + Joystick Remote Control #######
cd ~/catkin_ws/
. devel/setup.bash
rosrun qolo laser_remote_qolo.sh
# roslaunch qolo remote_qolo_laser.launch
## Launching with T265 Odometry
roslaunch qolo remote_qolo.launch
### NOTE: DEBUG_MODE --> Runtime: (20~30ms) --> 33~40 Hz
### NOTE: Normal Execution --> Runtime: (11~15ms) --> 65~90 Hz
6. Nvidia-200 terminal: Start People tracker
cd ~/tracker_ws
. /ssd_nvidia/venv_sensing/bin/activate
. devel/setup.bash
roslaunch rwth_crowdbot_launch qolo_onboard.launch trt:=true
# No tracker option:
cd ~/tracker_ws
. /ssd_nvidia/venv_sensing/bin/activate
. devel/setup.bash
roslaunch rwth_crowdbot_launch qolo_detect.launch trt:=true
# Edit maximum tracking per sensor:
nano ~/tracker_ws/src/frame_soft/rwth_crowdbot_launch/config/qolo/detection_fusion/topics.yaml
7. Start DS-based trajectory control (50m ahead)
####### For RDS trajectory #######
Main-pc-110 terminal:
ssh qolo@192.168.13.110
cd ~/catkin_ws/
. devel/setup.bash
rosrun qolo ds_trajectory.py
####### For MDS trajectory #######
ssh qolo@192.168.13.120
cd ~/autonomy_ws/
. devel/setup.bash
rosrun qolo_modulation qolo_modulation_ros_controller.py
8. 200 Nvidia terminal: Choose a recording at the bottom of the document that suits the test (the following is the simplest LRF + tracker + qolo)
cd /ssd_nvidia/data/crowdbot_2021
rosbag record --duration=3m /chatter /tf /tf_static /qolo/pose2D /qolo/twist /qolo/remote_commands qolo/compliance/svr /qolo/emergency /front_lidar/velodyne_points /front_lidar/scan /rear_lidar/velodyne_points /rear_lidar/scan /camera_left/color/image_raw /camera_left/color/camera_info /camera_left/depth/camera_info /camera_left/depth/image_rect_raw /camera_left/depth/color/points /camera_left/aligned_depth_to_color/camera_info /camera_left/aligned_depth_to_color/image_raw /ground_plane /ground_plane_visual_marker /image_with_bounding_boxes /darknet_ros/bounding_boxes /darknet_ros/detection_image /detected_persons/yolo /detected_persons_synchronized /diagnostics /drow_detected_persons_front /drow_detected_persons_rear /map /map_metadata /move_base_simple/goal /poseupdate /rwth_tracker/pedestrian_array /rwth_tracker/tracked_persons /rds_to_gui /t265/odom/sample /rokubi_node_front/ft_sensor_measurements
rosbag record --duration=2m /chatter -O 1-0322-Europe.bag /tf /tf_static /qolo /front_lidar/velodyne_points /front_lidar/scan /rear_lidar/velodyne_points /rear_lidar/scan /camera_left/color/image_raw /camera_left/color/camera_info /camera_left/depth/camera_info /camera_left/depth/image_rect_raw /camera_left/depth/color/points /camera_left/aligned_depth_to_color/camera_info /camera_left/aligned_depth_to_color/image_raw /ground_plane /ground_plane_visual_marker /image_with_bounding_boxes /darknet_ros/bounding_boxes /darknet_ros/detection_image /detected_persons/yolo /detected_persons_synchronized /diagnostics /drow_detected_persons_front /drow_detected_persons_rear /map /map_metadata /move_base_simple/goal /poseupdate /rwth_tracker/pedestrian_array /rwth_tracker/tracked_persons /rds_to_gui /t265/odom/sample
###### ROSbag with Frontal RGBD + odom + 3D points ######
rosbag record -O 1-03_15_outdoor.bag -a
## RESETTING SLAM: if needed or lost in the map
rostopic pub /syscommand std_msgs/String "reset"
============== Experiments with Obstacle Avoidance - RDS ==========================
#### Establish 3 connetcions to main UpBoard 110
#### Establish 1 connetcion to Forntal Upboard 120
#### Establish 3 connetcion to Nvidia Board 200
1 110 terminal:
rosocre
2. 110 terminal: launching SLAM from rear LIDAR
cd ~/catkin_ws/
. devel/setup.bash
roslaunch qolo rear_lidar-cloud.launch /// OR /// roslaunch qolo rear_lidar-slam.launch
3. 120 terminal
cd ~/autonomy_ws/
. devel/setup.bash
rosrun rds_ros run_rds_localisation.sh
Not used anymore
roslaunch rds_ros rds_front_lrf_slam.launch ///OR/// roslaunch rds_ros rds_front_lrf.launch
4. Nvidia 200 terminal: Start front-left camera
cd /ssd_nvidia/autonomy_ws
. devel/setup.bash
roslaunch realsense2_camera rs_qolo.launch
5. Nvidia 200 terminal: Start tracker
cd ~/tracker_ws
. /ssd_nvidia/venv_sensing/bin/activate
. devel/setup.bash
roslaunch rwth_crowdbot_launch qolo_onboard.launch trt:=true
6. 110 terminal: Starting main Qolo node
sudo -s
cd ~/catkin_ws/
. devel/setup.bash
roslaunch qolo qolo.launch
7. 200 Nvidia terminal: Choos a recording at the bottom of the document that suits the test (the following is the simplest LRF + tracker + qolo)
cd /ssd_nvidia/data/rds_tests/
rosbag record -O rds_pedestrians_01.bag /tf /tf_static /qolo /front_lidar/scan /rear_lidar/scan /ground_plane /ground_plane_visual_marker /image_with_bounding_boxes /darknet_ros/bounding_boxes /darknet_ros/detection_image /detected_persons/yolo /detected_persons_synchronized /diagnostics /drow_detected_persons_front /drow_detected_persons_rear /map /map_metadata /move_base_simple/goal /poseupdate /rwth_tracker/pedestrian_array /rwth_tracker/tracked_persons /rds_to_gui /slam_out_pose
## RESETTING SLAM: if needed or lost in the map
rostopic pub /syscommand std_msgs/String "reset"
============== Experiments with Remote Commands - Hasler Project ==========================
#### Establish 3 connetcions to main UpBoard 110
#### Establish 1 connetcion to Hasler Upboard 130
#### Establish 1 connetcion to Hasler Upboard 120
1. 110 terminal:
rosocore
2. 110 terminal: Starting main Qolo node
sudo -s
cd ~/catkin_ws/
. devel/setup.bash
roslaunch qolo hasler_qolo.launch
// roslaunch qolo rear_lidar-slam.launch
3. 120 terminal
cd ~/autonomy_ws/
. devel/setup.bash
# roslaunch rds_ros rds_front_lrf_slam.launch
rosrun qolo_modulation run_localisation.sh
## RESETTING SLAM: if needed or lost in the map
rostopic pub /syscommand std_msgs/String "reset"
============== Experiments for Compliant tests - Collision Handling ==========================
#### Establish 3 connetcions to main UpBoard 110
#### Establish 1 connetcion to Frontal Upboard 120
1. 110 terminal:
rosocre
2. 110 terminal: launching SLAM from rear LIDAR
cd ~/catkin_ws/
. devel/setup.bash
roslaunch qolo rear_lidar-slam.launch
3. 110 terminal: Starting main Qolo node
sudo -s
cd ~/catkin_ws/
. devel/setup.bash
./src/qolo_ros/run_scripts/run_compliant.sh
4. Rosbag: if wanted
rosbag record -O rds_pedestrians_01.bag /tf /tf_static /qolo /front_lidar/scan /rear_lidar/scan /ground_plane /ground_plane_visual_marker /image_with_bounding_boxes /darknet_ros/bounding_boxes /darknet_ros/detection_image /detected_persons/yolo /detected_persons_synchronized /diagnostics /drow_detected_persons_front /drow_detected_persons_rear /map /map_metadata /move_base_simple/goal /poseupdate /rwth_tracker/pedestrian_array /rwth_tracker/tracked_persons /rds_to_gui /slam_out_pose
## RESETTING SLAM: if needed or lost in the map
rostopic pub /syscommand std_msgs/String "reset"
============== Executable at the main UpBoard 110 ==========================
Avaliable Launch files and starting scripts :
#### Sensors available:
launching SLAM from rear pc
roslaunch qolo rear_lidar-slam.launch
OR only rear LIDAR
roslaunch qolo rear_lidar-cloud.launch
OR only RDS in the rear LIDAR
roslaunch rds_ros rds_rear_lrf_cloud.launch
# This rear LIDAR + rear camera
./src/qolo_ros/run_scripts/run_rear_camera.sh
OR for all combined
./src/qolo_ros/run_scripts/run_all_sensors.sh
OR for compiant mode
sudo -s
./src/qolo_ros/run_scripts/run_compliant.sh
Main Qolo controller
CConfigure the launch file as required:
Flags avaiable:
1. Compliance mode
Activates the Compliance mode for collision detection and reaction
2. Shared Control mode
Activates the RDS service for obstacle avoidance
3. Joystick mode
Subscribing to the remote joystick
4. Remote mode
Recieving remote commands (for DS/ trajectory tracking or so)
5. Constant mode
Fix velocity
Option 1: Main Qolo controller
roslaunch qolo qolo.launch
Option 2: Compliance Command Control
roslaunch qolo compliance_qolo.launch
Option 3: Hasler Control Commands
roslaunch qolo hasler_qolo.launch
#### Sensor recording for imu
cd ~/catkin_ws/
sudo -s
. devel/setup.bash
./src/qolo_ros/run_scripts/record_imu.sh
#### Trajectory tracking mode
cd catkin_ws/
. devel/setup.bash
python src/qolo_ros/qolo_package/src/trajectory_command_node.py
============== Executable in UpBoard 120 ==========================
Avaliable Launch files and starting scripts :
cd autonomy_ws
. devel/setup.bash
Options for launch file:
0. LIDAR SLAM
roslaunch rds_ros slam_lrf.launch
3. Only RDS with 2D lidar:
roslaunch rds_ros rds_front_lrf.launch
1. RDS with LIDAR + SLAM
# This includes the frontal LIDAR
./src/rds/rds_ros/launch/run_slam.sh
or
roslaunch rds_ros rds_slam.launch
2. LIDAR with 3d pointcloud
# This includes the frontal LIDAR
./src/rds/rds_ros/launch/run_front_cloud.sh
4. OR LIDAR + RGBD front
# This includes the frontal LIDAR
./src/rds/rds_ros/launch/run_front_camera.sh
2. Terminal: TRAJECTORY TRACKING
cd autonomy_ws
. devel/setup.bash
python src/rds/rds_ros/scripts/trajectory_command_node.py
Terminal 3:
cd autonomy_ws
. devel/setup.bash
rosrun rds_gui_ros rds_gui_ros_node
============== Execute in Nvidia Board 200 ==========================
Activate virtual environment
Terminal 1:
cd /ssd_nvidia/autonomy_ws
. devel/setup.bash
roslaunch realsense2_camera rs_qolo.launch
Termina 2:
cd ~/tracker_ws
. /ssd_nvidia/venv_sensing/bin/activate
. devel/setup.bash
roslaunch rwth_crowdbot_launch qolo_onboard.launch trt:=true
------------- RGBD Detection and Visualization -----------------
roslaunch movidius_ncs_launch ncs_camera.launch cnn_type:=tinyyolo_v1 camera:=realsense
rosrun kalman_bounding_boxes kalman_bounding_boxes_node
################## ROSBAG recording ########################
============== ROSbag with RGBD and 3D points ===============
### Not recommended as it will record at very low frequency (specially if the cameras are used) around 1-2 Hz.
rosbag record -O all_sensors_tracking_3.bag -a
###### ROSbag with 2LRF ######
rosbag record -O rds_pedestrians_01.bag /tf /tf_static /qolo /front_lidar/scan /rear_lidar/scan /ground_plane /ground_plane_visual_marker /image_with_bounding_boxes /darknet_ros/bounding_boxes /darknet_ros/detection_image /detected_persons/yolo /detected_persons_synchronized /diagnostics /drow_detected_persons_front /drow_detected_persons_rear /map /map_metadata /move_base_simple/goal /poseupdate /rwth_tracker/pedestrian_array /rwth_tracker/tracked_persons /rds_to_gui /slam_out_pose
###### ROSbag with 2LRF + RGBD ######
rosbag record -O rds_pedestrians_01.bag /tf /tf_static /qolo /front_lidar/scan /rear_lidar/scan /ground_plane /ground_plane_visual_marker /image_with_bounding_boxes /darknet_ros/bounding_boxes /darknet_ros/detection_image /detected_persons/yolo /detected_persons_synchronized /diagnostics /drow_detected_persons_front /drow_detected_persons_rear /map /map_metadata /move_base_simple/goal /poseupdate /rwth_tracker/pedestrian_array /rwth_tracker/tracked_persons /rds_to_gui /slam_out_pose /camera_left/color/image_raw /camera_left/color/camera_info /camera_left/depth/camera_info /camera_left/depth/image_rect_raw /camera_left/depth/color/points /camera_left/aligned_depth_to_color/camera_info /camera_left/aligned_depth_to_color/image_raw
###### ROSbag with Frontal RGBD and 3D points ######
rosbag record -O driver_rds_points_5.bag /tf /tf_static /qolo /front_lidar/velodyne_points /front_lidar/scan /rear_lidar/velodyne_points /rear_lidar/scan /camera_left/color/image_raw /camera_left/color/camera_info /camera_left/depth/camera_info /camera_left/depth/image_rect_raw /camera_left/depth/color/points /camera_left/aligned_depth_to_color/camera_info /camera_left/aligned_depth_to_color/image_raw /ground_plane /ground_plane_visual_marker /image_with_bounding_boxes /darknet_ros/bounding_boxes /darknet_ros/detection_image /detected_persons/yolo /detected_persons_synchronized /diagnostics /drow_detected_persons_front /drow_detected_persons_rear /map /map_metadata /move_base_simple/goal /poseupdate /rwth_tracker/pedestrian_array /rwth_tracker/tracked_persons /rds_to_gui /slam_out_pose
###### ROSbag with FT sensors ######
rosbag record /rokubi_node_front/ft_sensor_measurements /rokubi_node_back/ft_sensor_measurements
###### ROSbag with Frontal RGBD + LIDAR + ft sensing ######
rosbag record -O imu_record_3.bag /tf /tf_static /front_lidar/scan /camera_front/color/image_raw /camera_front/color/camera_info /camera_front/depth/camera_info /camera_front/depth/image_rect_raw /camera_front/depth/color/points /camera_front/aligned_depth_to_color/camera_info /camera_front/aligned_depth_to_color/image_raw /camera_front/gyro/sample /camera_front/accel/sample /qolo /rokubi_node_front/ft_sensor_measurements
List of Topics:
/camera_left/aligned_depth_to_color/camera_info
/camera_left/aligned_depth_to_color/image_raw
/camera_left/aligned_depth_to_infra1/camera_info
/camera_left/aligned_depth_to_infra1/image_raw
/camera_left/color/camera_info
/camera_left/color/image_raw
/camera_left/depth/camera_info
/camera_left/depth/color/points
/camera_left/depth/image_rect_raw
/camera_left/extrinsics/depth_to_color
/camera_left/extrinsics/depth_to_infra1
/camera_left/extrinsics/depth_to_infra2
/camera_left/infra1/camera_info
/camera_left/infra1/image_rect_raw
/camera_left/infra2/camera_info
/camera_left/infra2/image_rect_raw
/camera_left/pointcloud/parameter_descriptions
/camera_left/pointcloud/parameter_updates
/camera_left/realsense2_camera_manager/bond
/camera_left/rgb_camera/auto_exposure_roi/parameter_descriptions
/camera_left/rgb_camera/auto_exposure_roi/parameter_updates
/camera_left/rgb_camera/parameter_descriptions
/camera_left/rgb_camera/parameter_updates
/camera_left/stereo_module/auto_exposure_roi/parameter_descriptions
/camera_left/stereo_module/auto_exposure_roi/parameter_updates
/camera_left/stereo_module/parameter_descriptions
/camera_left/stereo_module/parameter_updates
/clicked_point
/darknet_ros/bounding_boxes
/darknet_ros/detection_image
/detected_persons/yolo
/detected_persons_synchronized
/diagnostics
/drow_detected_persons_front
/drow_detected_persons_rear
/front_lidar/scan
/front_lidar/scan_all
/front_lidar/tf_front_lidar_nodelet_manager/bond
/front_lidar/tf_front_lidar_nodelet_manager_cloud/parameter_descriptions
/front_lidar/tf_front_lidar_nodelet_manager_cloud/parameter_updates
/front_lidar/tf_front_lidar_nodelet_manager_driver/parameter_descriptions
/front_lidar/tf_front_lidar_nodelet_manager_driver/parameter_updates
/front_lidar/tf_front_lidar_nodelet_manager_laserscan/parameter_descriptions
/front_lidar/tf_front_lidar_nodelet_manager_laserscan/parameter_updates
/front_lidar/velodyne_packets
/front_lidar/velodyne_points
/front_to_laserscan_manager/bond
/ground_plane
/ground_plane_visual_marker
/image_with_bounding_boxes
/initialpose
/joint_states
/move_base_simple/goal
/qolo/compliance/svr
/qolo/emergency
/qolo/odom
/qolo/pose2D
/qolo/remote_commands
/qolo/twist
/rds_to_gui
/rear_lidar/scan
/rear_lidar/scan_all
/rear_lidar/tf_rear_lidar_nodelet_manager/bond
/rear_lidar/tf_rear_lidar_nodelet_manager_cloud/parameter_descriptions
/rear_lidar/tf_rear_lidar_nodelet_manager_cloud/parameter_updates
/rear_lidar/tf_rear_lidar_nodelet_manager_driver/parameter_descriptions
/rear_lidar/tf_rear_lidar_nodelet_manager_driver/parameter_updates
/rear_lidar/tf_rear_lidar_nodelet_manager_laserscan/parameter_descriptions
/rear_lidar/tf_rear_lidar_nodelet_manager_laserscan/parameter_updates
/rear_lidar/velodyne_packets
/rear_lidar/velodyne_points
/rear_to_laserscan_manager/bond
/rokubi_node_front/ft_sensor_measurements
/rosout
/rosout_agg
/rwth_tracker/pedestrian_array
/rwth_tracker/tracked_persons
/t265/accel/imu_info
/t265/accel/sample
/t265/fisheye1/camera_info
/t265/fisheye1/image_raw
/t265/fisheye2/camera_info
/t265/fisheye2/image_raw
/t265/gyro/imu_info
/t265/gyro/sample
/t265/odom/sample
/t265/realsense2_camera_manager/bond
/t265/tracking_module/parameter_descriptions
/t265/tracking_module/parameter_updates
/tf
/tf_static