robotDevastation simulator revival

[jgvictores]

robotDevastation simulator revival.

We used to have this, called rdSim or similar. We could now do this pretty easily via our robot interface and https://github.com/roboticslab-uc3m/openrave-yarp-plugins (could be implemented here or there).

[jgvictores]

Also created https://github.com/asrob-uc3m/robotDevastation-openrave-models

Blocked by #37

[jgvictores]

No longer blocked by #37.

[jgvictores]

Blocked by:

• https://github.com/roboticslab-uc3m/openrave-yarp-plugins/issues/33
• https://github.com/asrob-uc3m/robotDevastation-openrave-models/issues/1

[jgvictores]

With https://github.com/asrob-uc3m/robotDevastation-openrave-models/issues/1 closed, blocked essentially by:

• https://github.com/roboticslab-uc3m/openrave-yarp-plugins/issues/33 (because camera and force are coupled)
• https://github.com/roboticslab-uc3m/openrave-yarp-plugins/issues/47 (develop a generic yarp plugin loader)

[jgvictores]

Currently:

• RGB blocked by upstream https://github.com/roboticslab-uc3m/openrave-yarp-plugins/issues/48
• Must develop robot controller, could do at https://github.com/roboticslab-uc3m/openrave-yarp-plugins

[jgvictores]

Interesting lines for robot controller: https://github.com/roboticslab-uc3m/asibot-main/blob/2171d3e6a1ce16ac92f29a939b9dc85db7245dda/src/libraries/RlPlugins/ravebot/IDeviceImpl.cpp#L362-L363

[jgvictores]

Robot controller currently at https://github.com/roboticslab-uc3m/openrave-yarp-plugins/tree/rdr-36 starting with https://github.com/roboticslab-uc3m/openrave-yarp-plugins/commit/b430222f4d06b5bc6f11da1db83677dd96b01eb4

[jgvictores]

As commented https://github.com/roboticslab-uc3m/openrave-yarp-plugins/issues/29#issuecomment-340159347 the code odevelocity supports is dead:

std::stringstream sout,ss;
ss << "setvelocity 3.0 3.0 3.0 3.0 ";
if( ! pcontrol->SendCommand(sout,ss) )
{
    CD_ERROR("failed to send velocity command\n");
    return false;
}

[jgvictores]

Much better with working version, idealvelocitycontroller, see https://github.com/roboticslab-uc3m/openrave-yarp-plugins/commit/df2b04e63f7bfb9b6ea479dfc0f1e35f4045b831.

[jgvictores]

Have working simulated robot: openrave-YarpPluginLoader-robotmanager.py as of https://github.com/roboticslab-uc3m/openrave-yarp-plugins/commit/f4e979210d5ba34dd86ab356fe777f73bad21708

Still blocked by epic https://github.com/roboticslab-uc3m/openrave-yarp-plugins/issues/48 of offscreen render. Must try on old optimus device.

[jgvictores]

Notes:

1. We want a bash script to launch the one-liner that involves YarpOpenraveRobotManager.
2. YarpOpenraveRobotManager is very tied to a 4WD robot. Consider the variations and if they will over-populate openrave-yarp-plugins. If we want to move here, consider that we depend on YarpOpenraveBase (also affected by https://github.com/roboticslab-uc3m/openrave-yarp-plugins/issues/62).

[jgvictores]

No longer blocked by https://github.com/roboticslab-uc3m/openrave-yarp-plugins/issues/48!

RD is compatible with https://github.com/roboticslab-uc3m/openrave-yarp-plugins example:

COIN_FULL_INDIRECT_RENDERING=1 python examples/openraveYarpPluginLoader-robotmanager.py

Choose ecroSim as the robot name for connecting.

BTW, the camera resolution is tiny, but that is a minor issue which I've documented at https://github.com/asrob-uc3m/robotDevastation-openrave-models/issues/3.

[jgvictores]

PS: Use https://github.com/roboticslab-uc3m/openrave-yarp-plugins/issues/48 as a guide if have offscreen/indirect rendering issues.

[jgvictores]

I believe all that's left to do now is document this in https://github.com/asrob-uc3m/robotDevastation-user-manual. Closing this issue and opening an issue there.

[jgvictores]

BTW, looks really nice after https://github.com/asrob-uc3m/robotDevastation-openrave-models/commit/629ff5908d6fe40861d3d7b7ea6d37d234f0d79c for https://github.com/asrob-uc3m/robotDevastation-openrave-models/issues/3