This ROS-based package makes possible to use the CARLA Simulator on the DVRK.
The solution is tested on Ubuntu 16.04 LTS with ROS Kinetic recommended by dVRK from October 2017, so this platform is encouraged. The building process can be performed using catkin build tools for ROS (so use catkin build, but you should never catkin_make) by the following steps.
Type:
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt update
sudo apt install ros-kinetic-desktop-full
Initialize rosdep:
sudo rosdep init
rosdep update
Setup environment:
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential python-catkin-tools
Installthe da Vinci Reserach Kit v1.5, icluding the cisst-saw and the dvrk-ros packages, use do the following steps:
In your have installed dVRK, you should already have a catkin_ws directory set-up properly. Elsehow, do the following:
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init
If you alread have a catkin_ws, just download the sources:
cd ~/catkin_ws/src
git clone https://github.com/ABC-iRobotics/dvrk_carla
And build using catkin build:
cd ~/catkin_ws
catkin build dvrk_carla
source devel_release/setup.bash
The following guide is based on the official install guide, enhanced with some fixes.
sudo add-apt-repository ppa:ubuntu-toolchain-r/test
wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key|sudo apt-key add -
sudo apt-add-repository "deb http://apt.llvm.org/xenial/ llvm-toolchain-xenial-7 main"
sudo apt-get update
sudo apt-get install build-essential clang-7 lld-7 g++-7 cmake ninja-build libvulkan1 python python-pip python-dev python3- dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl wget unzip autoconf libtool
pip2 install --user setuptools
pip3 install --user setuptools
sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-7/bin/clang++ 170
sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-7/bin/clang 170
Registration is necessary to access the UnrealEngine repository in GitHub, follow these instructions. After the registration is complete:
git clone --depth=1 -b 4.22 https://github.com/EpicGames/UnrealEngine.git ~/UnrealEngine_4.22
cd ~/UnrealEngine_4.22
./Setup.sh && ./GenerateProjectFiles.sh && make
./Update.sh
export UE4_ROOT=~/UnrealEngine_4.22
make launch # Compiles the simulator and launches Unreal Engine's Editor.
make PythonAPI # Compiles the PythonAPI module necessary for running the Python examples.
make package # Compiles everything and creates a packaged version able to run without UE4 editor.
make help # Print all available commands.
pip install --user pygame numpy
To launch CARLA:
cd ~/carla/Dist/<VESRION/LinuxNoEditor
DISPLAY= ./CarlaUE4.sh -opengl -quality-level=Low
The Arduino programs use the rosserial_arduino interface to ROS.
After the program is loaded onto the board, the following node has to be launched to publish data to the ROS environment:
rosrun rosserial_python serial_node.py /dev/ttyUSB0
The alarms are generated using the sound_play ROS package. Install it using:
sudo apt install ros-kinetic-sound-play
The soundplay server can be started by
rosrun sound_play soundplay_node.py
The test code can be launched by
rosrun dvrk_carla play_sound_test.py
You will need to download the latest release of CARLA from their GitHub page. Extract the archive to a folder of your choice. Home folder of current user is used in the examples below.
Next install Pygame and Numpy Python packages if you don not have them installed yet. On Ubuntu, it can be done with:
sudo apt install python-pygame python-numpy
On other distributions you may consider installing it via pip only for current user:
pip install --user pygame numpy
In a terminal window, switch the current directory to the path you extracted CARLA to and start the simulator with:
./CarlaUE4.sh
If you run into any problems during this step and to get more familiar with CARLA you may want to consult Getting started page of CARLA documentation this section was loosely based on.
To start control script which can be used with dVRK, export path to CARLA Python API package located in CARLA folder, e. g.:
export PYTHONPATH=$PYTHONPATH:~/CARLA_0.9.3/PythonAPI/carla-0.9.3-py2.7-linux-x86_64.egg
And start the manual_control_ros.py script.
Wheel segments, attachable to the MTMs can be printed using the STL file in the models folder.
Start roscore:
roscore
Launch the DVRK console with the two MTMs and foot pedals using the proper JSON file in a separate terminal, e.g.:
rosrun dvrk_robot dvrk_console_json -j <path_to_JSON_files>/console-MTMR-MTML-pedals.json
Then launch the dvrk_steering_wheel.py script by:
rosrun dvrk_carla dvrk_steering_wheel.py MTML MTMR
Move the handles to a comfortable position, and press COAG to fix wheel position. After this step the simulator is ready!