SaRA-shield

This package provides safety for human-robot interaction using reachability analysis. We use SaRA to calculate the reachable sets of humans and robots. The SaRA shield additionally provides the necessary trajectory control to stop the robot before any collision with the human could occur.

Installation

Clone the repo with submodules

git clone --recurse-submodules git@github.com:JakobThumm/sara-shield.git

Install the shield [C++ only]

The installation requires gcc, c++>=17, and Eigen3 version 3.4 (download it here: https://eigen.tuxfamily.org/index.php?title=Main_Page). Set the path to your eigen3 installation to this env variable, e.g.,

export EIGEN3_INCLUDE_DIR="/usr/include/eigen3/eigen-3.4.0"

Install gtest

sudo apt-get install libgtest-dev

cd safety_shield
mkdir build && cd build
cmake ..
make -j 4

Install the shield [With Python bindings]

pip install -r requirements.txt
python setup.py install

Run the python binding tests

pytest safety_shield/tests

Run Safety-shield with Xbot2

Start Ros with

roscore

Run the concert gazebo project with

cd ~/concert_ws
source ./src/safe_rl_manipulators/src/catkin_ws/devel/setup.bash
source setup.bash

mon launch concert_gazebo concert.launch realsense:=true velodyne:=true

After Gazebo runs, start Xbot2-Gui with

xbot2-gui

This should open a large window with status "Running" in the top left corner. If it opens a small window with the status "Inactive" instead, close and rerun the command above.

Open Rviz for visualization (with the command rviz) and start the xbot plugin in the xbot2 gui. The visualization topics of sara-shield are named /human_joint_marker_array and /robot_joint_marker_array and can be visualized by adding them in rviz.

Notes

1. Sara-shield should always be built in Release mode, since the timesteps can take too long otherwise, resulting in crashes (safety limit violation detected ...).
2. The plugin is not supposed to be paused and restarted. Instead it is recommended to stop gazebo and start it again. (Rviz and Xbot2-gui can stay open)