About the HSR

Please refer to the following to obtain information about Human Support Robot (HSR) and use it in your paper.

https://robomechjournal.springeropen.com/articles/10.1186/s40648-019-0132-3

docker installation

In order to run the simulator, docker and docker-compose are necessary.

In the case of a Windows or Mac environment, please install docker for Windows or Mac respectively.

In the case of Linux, please input the following commands and install docker.

$ curl -fsSL https://get.docker.com -o get-docker.sh
$ sh get-docker.sh

If you input the following command, even regular users will be able to execute the docker command.

$ sudo usermod -aG docker <USERNAME>

After executing the above command, log out then log in again.

Input the following command, then verify that docker can execute correctly.

$ docker info

Input the following commands and install docker-compose. As the docker-compose that can be installed via apt-get is old, please input all of the following commands to install the newest version of docker-compose.

$ sudo apt-get remove docker-compose
$ COMPOSE_VERSION=$(wget https://api.github.com/repos/docker/compose/releases/latest -O - | grep 'tag_name' | cut -d\" -f4)
$ sudo wget https://github.com/docker/compose/releases/download/${COMPOSE_VERSION}/docker-compose-`uname -s`-`uname -m` -O /usr/local/bin/docker-compose
$ sudo chmod 755 /usr/local/bin/docker-compose

Usage

Please input the following commands to clone this repository.

$ git clone --recursive https://github.com/hsr-project/hsrb_robocup_dspl_docker.git
$ cd hsrb_robocup_dspl_docker

Download all of the images necessary for running the simulator. As you will be downloading a large amount of data, please execute the following command in an environment that is connected to a high speed network.

$ docker-compose pull

Starting the simulator

Please input the following command and start the simulator.

$ docker-compose up

Please open each of the following URLs in a browser, then move on to development.

• The simulator's screen http://localhost:3000
• IDE http://localhost:3001
• jupyter notebook http://localhost:3002

Starting the simulator in an environment with a GPU

If it is the case that there is an NVIDIA video card, then acceleration of the simulation through rendering on the GPU is possible.

First, please install nvidia-docker by referring to the following URL:

https://github.com/NVIDIA/nvidia-docker

Next, perform rendering on display number 0 of the X server that was started up on the server. Please input the following command, to to give access from within docker to the X server.

$ DISPLAY=:0 xhost si:localuser:root

Please input the following command and start the simulator.

$ docker-compose -f docker-compose.nvidia.yml up

Please open each of the following URLs in a browser, then move on to development.

• The simulator's screen http://localhost:3000
• IDE http://localhost:3001
• jupyter notebook http://localhost:3002

Operation within the docker host PC

In order to communicate from the host PC that is running the docker image with the simulator's roscore, it is necessary that ROS_MASTER_URI is set appropriately. If you source the script that is located directly under this package as illustrated below, then it is possible to set ROS_MASTER_URI.

$ source ./set-rosmaster.sh

After starting the simulator, please check that ROS communication is working using the host PC.

Authors

• Yosuke Matsusaka

Contact

• HSR Support xr-hsr-support@mail.toyota.co.jp

LICENSE

This software is released under the BSD 3-Clause Clear License, see LICENSE.txt.