building the pipeline ros->diffpo->ros

adeeb10abbas commented 5 months ago

[x] ros to torch (addressed via #14
[x] torch to ros
[ ] basic inference trial run at 5-10hz (essentially #8) -> blocked by #16

adeeb10abbas commented 5 months ago

Some relevant info. I tried to convert the rosbags via rosbags-convert after translating the packages exactly as formatted in the ros1 world. It seems like the following topics works fine

ali@avatar-MS-7D91:~$ ros2 topic list 
/camera/color/camera_info
/camera/color/image_raw
/camera/color/image_raw/compressed
/camera/depth/camera_info
/camera/depth/image_rect_raw
/camera/depth/image_rect_raw/compressed
/camera/depth/image_rect_raw/compressedDepth
/diagnostics
/events/read_split
/parameter_events
/pti_interface_right/joint_states
/right_arm_pose
/right_glove_joint_states
/right_gripper_joint_states
/rosout
/tf_static

Note this rosbag was only for the right arm. The following are the topics we're missing (mostly the ones relevant to haptic feedback)

[WARN] [1706734256.089150557] [rosbag2_player]: Ignoring a topic '/pti_interface_right/panda_info', reason: package 'franka_control' not found, searching: [/home/ali/ros2_msg_types_ws/install/smarty_arm_msg, /home/ali/ros2_msg_types_ws/install/rdda_interfaces_types, /opt/ros/humble].
[WARN] [1706734256.089172327] [rosbag2_player]: Ignoring a topic '/pti_interface_right/pti_output', reason: package 'franka_control' not found, searching: [/home/ali/ros2_msg_types_ws/install/smarty_arm_msg, /home/ali/ros2_msg_types_ws/install/rdda_interfaces_types, /opt/ros/humble].
[WARN] [1706734256.089193016] [rosbag2_player]: Ignoring a topic '/rdda_right_master_input', reason: package 'rdda_interface' not found, searching: [/home/ali/ros2_msg_types_ws/install/smarty_arm_msg, /home/ali/ros2_msg_types_ws/install/rdda_interfaces_types, /opt/ros/humble].
[WARN] [1706734256.089206486] [rosbag2_player]: Ignoring a topic '/rdda_right_master_output', reason: package 'rdda_interface' not found, searching: [/home/ali/ros2_msg_types_ws/install/smarty_arm_msg, /home/ali/ros2_msg_types_ws/install/rdda_interfaces_types, /opt/ros/humble].
[WARN] [1706734256.089698040] [rosbag2_player]: Ignoring a topic '/right_smarty_arm_output', reason: package 'smarty_arm_interface' not found, searching: [/home/ali/ros2_msg_types_ws/install/smarty_arm_msg, /home/ali/ros2_msg_types_ws/install/rdda_interfaces_types, /opt/ros/humble].
[WARN] [1706734256.089749278] [rosbag2_player]: Ignoring a topic '/rosout', reason: Something went wrong loading the typesupport library for message type rosgraph_msgs/Log. Library could not be found..
[WARN] [1706734256.089776295] [rosbag2_player]: Ignoring a topic '/rosout_agg', reason: Something went wrong loading the typesupport library for message type rosgraph_msgs/Log. Library could not be found..
[WARN] [1706734256.089838664] [rosbag2_player]: Ignoring a topic '/smarty_arm_interface_r/parameter_descriptions', reason: package 'dynamic_reconfigure' not found, searching: [/home/ali/ros2_msg_types_ws/install/smarty_arm_msg, /home/ali/ros2_msg_types_ws/install/rdda_interfaces_types, /opt/ros/humble].
[WARN] [1706734256.089891168] [rosbag2_player]: Ignoring a topic '/smarty_arm_interface_r/parameter_updates', reason: package 'dynamic_reconfigure' not found, searching: [/home/ali/ros2_msg_types_ws/install/smarty_arm_msg, /home/ali/ros2_msg_types_ws/install/rdda_interfaces_types, /opt/ros/humble].

adeeb10abbas commented 5 months ago

ros2_msg_types_ws.zip

here's the hacked together ros2 msg ws.

adeeb10abbas commented 5 months ago

So, for the /pti_interface_right/* amd left ones we will need to move franka_control package to ros2 as well

adeeb10abbas commented 5 months ago

And the other packages for messages need to be named the following - rdda_interface and smarty_arm_interface

adeeb10abbas commented 5 months ago

note via eric - "you don't need real time kernel just focus on processor task pinning and that should be fine." Provided a repro example here

adeeb10abbas / avatar_behavior_cloning

building the pipeline ros->diffpo->ros #10