Software Documentation

Documentation (SVD)

The VADER  project as of SVD is runnable under three different cases:

1. Single Arm in Real (A Xarm-7 with the gripper attachment is connected to the PC)
2. Dual Arm in Sim (Using Gazebo simulator, with fake perception nodes)
3. Single/Dual Arm Teleoperation (Two GELLO teleoperation arms are connected to the PC)

Each repository listed below contains additional documentation regarding the module, as well as comments in code. All repositories are public and accessible under github.com/VADER-CMU.

Single Arm in Real:

1. Set up our docker environment by going to https://github.com/VADER-CMU/vader_docker, cloning it, and following the instructions to build and run the docker image. 
2. Outside of the docker image:
   1. Go to docker_ws
   2. Mkdir src; cd src
   3. Git clone the following packages:
      1. https://github.com/VADER-CMU/vader_sim
         1. Note: according to README, please clone the xarm_sdk package from xarm_ros over the existing folder. 
      2. https://github.com/VADER-CMU/planning
      3. https://github.com/VADER-CMU/pose_estimation
         1. Note: according to the README, please also clone the realsense-ros package into src/.
      4. https://github.com/VADER-CMU/vader_msgs
      5. https://github.com/VADER-CMU/vader_dynamixel
         1. Note: Please check in dynamixel_node.py that FakeCutter is set to True and FakeGripper is set to False. Also check in config/ that your U2D2 bridge serial ID is set correctly.
      6. https://github.com/VADER-CMU/vader_hri
      7. Clone https://github.com/VADER-CMU/xarm_ros; Go into this folder and copy the xarm_bringup folder into src/, and remove the rest.
   4. In the docker, at docker_ws/src, run catkin_make. Then, run source devel/setup.bash.
   5. The real arm setup should now be runnable. Run roslaunch vader_hri vader_svd_singleReal.launch which should run the SVD demonstration of our single arm program.

Dual Arm in Sim:

1. Set up our docker environment by going to https://github.com/VADER-CMU/vader_docker, cloning it, and following the instructions to build and run the docker image. 
2. Outside of the docker image:
   1. Go to docker_ws
   2. Mkdir src; cd src
   3. Git clone the following packages:
      1. https://github.com/VADER-CMU/vader_sim
         1. Note: according to README, please clone the xarm_sdk package from xarm_ros over the existing folder. 
      2. https://github.com/VADER-CMU/planning
      3. https://github.com/VADER-CMU/vader_msgs
      4. https://github.com/VADER-CMU/vader_dynamixel
         1. Note: Please check in dynamixel_node.py that FakeCutter and FakeGripper are set to True.
      5. https://github.com/VADER-CMU/vader_hri
   4. In the docker, at docker_ws/src, run catkin_make. Then, run source devel/setup.bash.
   5. The real arm setup should now be runnable. Run rosrun vader_hri SVD_sim_randomized_launcher.py | bash, which should generate command line arguments for a randomized pepper location and launch everything required for the simulation and the system to harvest the simulated pepper.

Single/Dual Arm Teleoperation:

Follow the instructions in https://github.com/VADER-CMU/gello_sim_dual_arm to install and run the program. No other packages are required.