AUC-Thesis-DT

A Digital Twin Prototype of an Automated Guided Vehicle (Turtlebot3) 🐢.

Usage

Get docker and docker-compose, set it up nicely, then, in your terminal:

1. Build the Docker Image to run simulation.

cd ./turtlebot3_docker 
docker build -t turtlebot3-noetic .

2. Create a Docker Network for all containers to communicate through.

docker network create ros

3. Pull theasp/novnc image and run the container.

docker pull theasp/novnc:latest
docker run -d --rm --net=ros \
   --env="DISPLAY_WIDTH=3000" --env="DISPLAY_HEIGHT=1800" --env="RUN_XTERM=no" \
   --name=novnc -p=8080:8080 \
   theasp/novnc:latest

📺 on localhost:8080/vnc.html .

4. Launch a container running roscore.

docker run -d --net=ros -p 11311:11311 --name roscore osrf/ros:noetic-desktop-full roscore

5. Launch the server and DB by running:

cd ../RemoteDrivingDashboard-master 
docker-compose up

(on your localmachine not Dokcer).

6. Run a container from the built image and replace machine-ip.

docker run -it --net=ros --env="DISPLAY=novnc:0.0" --env="HOST_IP=<machine-ip>" \
   --env="ROS_MASTER_URI=http://roscore:11311" --env="TURTLEBOT3_MODEL=waffle_pi" \ 
   turtlebot3-noetic bash

7. Launch the dashboard to monitor/actuate the turtlebot (from within the container):

cd /AUC-Thesis-DT/OTA_RemoteDrivingConfigurator-main/Designs/
python3 QtGUI.py

then configure your dashboard through localhost:8080. 🕹

8. Open a new terminal and run a new turtlebot3-noetic image (step 6) then launch the turtlebot3 simulation. 💣

source ~/catkin_ws/devel/setup.sh
roslaunch turtlebot3_gazebo turtlebot3_house.launch

9. On a new terminal window, run another container of the turtlebot3-noetic (step 6) and:

a. Configure Aws for Kinesis Data & Video Streaming check for help then:

bash /AUC-Thesis-DT/RemoteDrivingDashboard-master/cloudconnect.sh

10. Activate all or any of the following nodes in a new container of the turtlebot3-noetic (step5):

To Launch All nodes at once

bash /AUC-Thesis-DT/RemoteDrivingDashboard-master/turtlebot3_nodes.sh 

or launch each node on its own

Actuate Node

python3 ~/catkin_ws/src/actuate/src/actuate.py

Sensors Node

python3 ~/catkin_ws/src/sensor_fusion/src/sensor_fusion.py

Streaming Node

python3 ~/catkin_ws/src/laser_values/src/scan.py

11. To activate the FMU node:

Replace machine_ip and make sure to source the script with the AMESim env variables (valid only for users who have access to AMESim simcenter).

sudo docker run -it  -v $AME:$AME --env="SPLM_LICENSE_SERVER=28000@orw-sddlic1" --env="SC1D_LICENSING_TYPE=ugs" --env="AME=$AME" --net=ros --env="HOST_IP=<machine_ip>" --env="ROS_MASTER_URI=http://roscore:11311" --env="LD_LIBRARY_PATH=$LD_LIBRARY_PATH" turtlebot3-noetic bash 

then:

python3 /AUC-Thesis-DT/ROS-master/cloudconnect/Reactive_FMU.py

12. Streaming Camera to AWS Kinesis

cd ./Streaming_docker 
docker build -t streaming-node .
docker run -it --env"ROS_MASTER_URI=http://roscore:11311" --net=ros streaming-node bash

then

nano /opt/ros/kinetic/share/h264_video_encoder/config/sample_configuration.yaml

and replace subscription_topic from /raspicam_node to /camera/rgb/image_raw

Configure AWS (check for help). Then:

roslaunch kinesis_video_streamer sample_application.launch

and have fun. 🎉