[Inquiry] Toyota HSR Simulator Environment Setup

[ruoqinggan]

1. We couldn’t locate the file to change the environment/world setting for the HSR simulator. Would you mind pointing us to the right place to look for it?
2. Instead of clicking the “2D Nav Goal” in rviz for autonomous movements, is there a way to command the robot to go somewhere and/or pick up objects programmatically? We are interested in learning about the API calls to achieve those tasks.
3. Are there any open-source projects for HSR algorithms available that we can test using Scenic? We would love to help contribute.

[yosuke]

We couldn’t locate the file to change the environment/world setting for the HSR simulator. Would you mind pointing us to the right place to look for it?

This repository (tmc_wrs_docker) only contains a docker-compose file. The docker image is built using the following repository, and the world file is located under the src/tmc_wrs_gazebo folder. https://github.com/hsr-project/tmc_wrs_binary

Instead of clicking the “2D Nav Goal” in rviz for autonomous movements, is there a way to command the robot to go somewhere and/or pick up objects programmatically? We are interested in learning about the API calls to achieve those tasks.

It can be done using ROSnav API. After you launch the simulator docker-compose, the jupyter notebook can be opened from http://localhost:3002/. One of the notebooks covers the navigation topic and there are some other topics on basic control of the HSR robot as well. You can switch the notebook language to English by using the toolbar button.

Are there any open-source projects for HSR algorithms available that we can test using Scenic? We would love to help contribute.

Sounds nice! I think the above jupyter notebooks will show you some of the simplest algorithms, but let us know if you need any further information.