Unity-Robotics-Hub

# Pick-and-Place Tutorial: Part 0

This part provides two options for setting up your ROS workspace: using Docker, or manually setting up a catkin workspace.

**Table of Contents**
  - [Option A: Use Docker](#option-a-use-docker)
  - [Option B: Manual Setup](#option-b-manual-setup)
  - [Troubleshooting](#troubleshooting)
  - [Resources](#resources)
  - [Proceed to Part 1](#proceed-to-part-1)

---

If you have not already cloned this project to your local machine, do so now:

```bash
git clone --recurse-submodules https://github.com/Unity-Technologies/Unity-Robotics-Hub.git
```

## Option A: Use Docker

> The Docker-related files (Dockerfile, setup scripts) are located in the [`docker/`](docker/) directory.

1. Follow the steps to install [Docker Engine](https://docs.docker.com/engine/install/) for your platform if it is not already installed.

1. Start the Docker daemon.
    > Note: The system-independent `docker info` command can verify whether or not Docker is running. This command will throw a `Server: ERROR` if the Docker daemon is not currently running, and will print the appropriate [system-wide information](https://docs.docker.com/engine/reference/commandline/info/) otherwise.

1. Build the provided ROS Docker image:

    ```bash
    cd /PATH/TO/Unity-Robotics-Hub/tutorials/pick_and_place &&
    git submodule update --init --recursive &&
    docker build -t unity-robotics:pick-and-place -f docker/Dockerfile .
    ```

    > Note: The provided Dockerfile uses the [ROS Melodic base Image](https://hub.docker.com/_/ros/). Building the image will install the necessary packages, copy the [provided ROS packages and submodules](ROS/) to the container, and build the catkin workspace.

1. Start the newly built Docker container:

    ```docker
    docker run -it --rm -p 10000:10000 -p 5005:5005 unity-robotics:pick-and-place /bin/bash
    ```

    When this is complete, it will print: `Successfully tagged unity-robotics:pick-and-place`. This console should open into a bash shell at the ROS workspace root, e.g. `root@8d88ed579657:/catkin_ws#`.

The ROS workspace is now ready to accept commands!

---

## Option B: Manual Setup

1. Navigate to the `/PATH/TO/Unity-Robotics-Hub/tutorials/pick_and_place/ROS` directory of this downloaded repo.
   - This directory will be used as the [ROS catkin workspace](http://wiki.ros.org/catkin/Tutorials/using_a_workspace).
   - If you cloned the project and forgot to use `--recurse-submodules`, or if any submodule in this directory doesn't have content, you can run the command `git submodule update --init --recursive` to download packages for Git submodules.
   - Copy or download this directory to your ROS operating system if you are doing ROS operations in another machine, VM, or container.
    > Note: This contains the ROS packages for the pick-and-place task, including [ROS TCP Endpoint](https://github.com/Unity-Technologies/ROS-TCP-Endpoint), [Niryo One ROS stack](https://github.com/NiryoRobotics/niryo_one_ros), [MoveIt Msgs](https://github.com/ros-planning/moveit_msgs), `niryo_moveit`, and `niryo_one_urdf`.

1. The provided files require the following packages to be installed. ROS Melodic users should run the following commands if the packages are not already present:

   ```bash
   sudo apt-get update && sudo apt-get upgrade
   sudo apt-get install python-pip ros-melodic-robot-state-publisher ros-melodic-moveit ros-melodic-rosbridge-suite ros-melodic-joy ros-melodic-ros-control ros-melodic-ros-controllers ros-melodic-tf2-web-republisher
   sudo -H pip install rospkg jsonpickle
   ```

   ROS Noetic users should run:

   ```bash
   sudo apt-get update && sudo apt-get upgrade
   sudo apt-get install python3-pip ros-noetic-robot-state-publisher ros-noetic-moveit ros-noetic-rosbridge-suite ros-noetic-joy ros-noetic-ros-control ros-noetic-ros-controllers
   sudo -H pip3 install rospkg jsonpickle
   ```

1. If you have not already built and sourced the ROS workspace since importing the new ROS packages, navigate to your ROS workplace, and run `catkin_make && source devel/setup.bash`. Ensure there are no errors.

1. The ROS parameters will need to be set to your configuration in order to allow the server endpoint to fetch values for the TCP connection, stored in `src/niryo_moveit/config/params.yaml`. From your ROS workspace, assign the ROS IP in this `yaml` file:

    ```bash
    echo "ROS_IP: $(hostname -I)" > src/niryo_moveit/config/params.yaml
    ```

    > Note: You can also manually assign this value by navigating to the `params.yaml` file and opening it for editing.

    ```yaml
    ROS_IP: <your ROS IP>
    ```

    e.g.

    ```yaml
    ROS_IP: 192.168.50.149
    ```

1. (Optional) By default, the server_endpoint will listen on port 10000, but this is also controlled by a parameter. If you need to change it, you can run the command `rosparam set ROS_TCP_PORT 10000`, replacing 10000 with the desired port number.

The ROS workspace is now ready to accept commands!

---

## Troubleshooting
- Building the Docker image may throw an `Could not find a package configuration file provided by...` exception if one or more of the directories in ROS/ appears empty. Try downloading the submodules again via `git submodule update --init --recursive`.

- `...failed because unknown error handler name 'rosmsg'` This is due to a bug in an outdated package version. Try running `sudo apt-get update && sudo apt-get upgrade` to upgrade packages.

- If the ROS TCP handshake fails (e.g. `ROS-Unity server listening...` printed on the Unity side but no `ROS-Unity Handshake received` on the ROS side), the ROS IP may not have been set correctly in the params.yaml file. Try running `echo "ROS_IP: $(hostname -I)" > src/niryo_moveit/config/params.yaml` in a terminal from your ROS workspace.

---

## Resources
- [Getting started with Docker](https://docs.docker.com/get-started/)
- Setting up a ROS workspace:

   > Note: this tutorial has been tested with ROS Melodic as well as ROS Noetic.
   -  http://wiki.ros.org/ROS/Installation
   -  http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment
   - http://wiki.ros.org/catkin/Tutorials/create_a_workspace

---


### Proceed to [Part 1](1_urdf.md).