{"id":295,"date":"2025-05-02T18:28:41","date_gmt":"2025-05-02T18:28:41","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teame\/?page_id=295"},"modified":"2025-12-11T21:30:27","modified_gmt":"2025-12-11T21:30:27","slug":"software-documentation","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teame\/documents\/software-documentation\/","title":{"rendered":"Software Documentation"},"content":{"rendered":"\n

Documentation for FVD<\/h2>\n\n\n\n

Each repository listed below contains additional documentation regarding the module, as well as comments in code. All repositories are public and accessible under https:\/\/github.com\/VADER-CMU<\/a>. For up-to-date instructions. please visit https:\/\/github.com\/VADER-CMU<\/a>,<\/p>\n\n\n\n

Instructions for running the full system:<\/p>\n\n\n\n

    \n
  1. Set up our docker environment by going to https:\/\/github.com\/VADER-CMU\/vader_docker<\/a>, cloning it, and following the instructions to build and run the docker image.\u00a0<\/li>\n\n\n\n
  2. Outside of the docker image:\n
      \n
    1. Go to docker_ws<\/code><\/li>\n\n\n\n
    2. mkdir src && cd src<\/code><\/li>\n\n\n\n
    3. Git clone the following packages:\n
        \n
      1. https:\/\/github.com\/VADER-CMU\/vader_sim<\/a>\n
          \n
        1. Note: according to README, please clone the xarm_sdk package from xarm_ros over the existing folder.\u00a0<\/li>\n<\/ol>\n<\/li>\n\n\n\n
        2. https:\/\/github.com\/VADER-CMU\/planning<\/a><\/li>\n\n\n\n
        3. https:\/\/github.com\/VADER-CMU\/vader_perception<\/a>\n
            \n
          1. Note: according to the README, please also clone the realsense-ros package into src\/.<\/li>\n<\/ol>\n<\/li>\n\n\n\n
          2. https:\/\/github.com\/VADER-CMU\/vader_msgs<\/a><\/li>\n\n\n\n
          3. https:\/\/github.com\/VADER-CMU\/vader_dynamixel<\/a>\n
              \n
            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.<\/li>\n<\/ol>\n<\/li>\n\n\n\n
            2. https:\/\/github.com\/VADER-CMU\/vader_hri<\/a><\/li>\n\n\n\n
            3. Clone https:\/\/github.com\/VADER-CMU\/xarm_ros<\/a>; Go into this folder and copy the xarm_bringup<\/code> folder into src\/<\/code>, and remove the rest.<\/li>\n<\/ol>\n<\/li>\n\n\n\n
            4. In the docker, at docker_ws\/src, run catkin_make. Then, run source devel\/setup.bash<\/code>.<\/li>\n\n\n\n
            5. The real arm setup should now be runnable. Run roslaunch vader_hri vader_fvd.launch<\/code> which should run the FVD System.<\/li>\n<\/ol>\n<\/li>\n<\/ol>\n\n\n\n

              Documentation for SVD<\/h2>\n\n\n

              The VADER \u00a0project as of SVD is runnable under three different cases:<\/span><\/p>\n

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

                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.<\/span><\/p>\n

                Single Arm in Real:<\/span><\/p>\n

                  \n
                1. Set up our docker environment by going to <\/span>https:\/\/github.com\/VADER-CMU\/vader_docker<\/span><\/a>, cloning it, and following the instructions to build and run the docker image.\u00a0<\/span><\/li>\n
                2. Outside of the docker image:<\/span>\n
                    \n
                  1. Go to docker_ws<\/span><\/li>\n
                  2. Mkdir src; cd src<\/span><\/li>\n
                  3. Git clone the following packages:<\/span>\n
                      \n
                    1. https:\/\/github.com\/VADER-CMU\/vader_sim<\/span><\/a>\n
                        \n
                      1. Note: according to README, please clone the xarm_sdk package from xarm_ros over the existing folder.\u00a0<\/span><\/li>\n<\/ol>\n<\/li>\n
                      2. https:\/\/github.com\/VADER-CMU\/planning<\/span><\/a><\/li>\n
                      3. https:\/\/github.com\/VADER-CMU\/pose_estimation<\/span><\/a>\n
                          \n
                        1. Note: according to the README, please also clone the realsense-ros package into src\/.<\/span><\/li>\n<\/ol>\n<\/li>\n
                        2. https:\/\/github.com\/VADER-CMU\/vader_msgs<\/span><\/a><\/li>\n
                        3. https:\/\/github.com\/VADER-CMU\/vader_dynamixel<\/span><\/a>\n
                            \n
                          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.<\/span><\/li>\n<\/ol>\n<\/li>\n
                          2. https:\/\/github.com\/VADER-CMU\/vader_hri<\/span><\/a><\/li>\n
                          3. Clone <\/span>https:\/\/github.com\/VADER-CMU\/xarm_ros<\/span><\/a>; Go into this folder and copy the xarm_bringup folder into src\/, and remove the rest.<\/span><\/li>\n<\/ol>\n<\/li>\n
                          4. In the docker, at docker_ws\/src, run catkin_make. Then, run source devel\/setup.bash.<\/span><\/li>\n
                          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.<\/span><\/li>\n<\/ol>\n<\/li>\n<\/ol>\n

                            Dual Arm in Sim:<\/span><\/p>\n

                              \n
                            1. Set up our docker environment by going to <\/span>https:\/\/github.com\/VADER-CMU\/vader_docker<\/span><\/a>, cloning it, and following the instructions to build and run the docker image.\u00a0<\/span><\/li>\n
                            2. Outside of the docker image:<\/span>\n
                                \n
                              1. Go to docker_ws<\/span><\/li>\n
                              2. Mkdir src; cd src<\/span><\/li>\n
                              3. Git clone the following packages:<\/span>\n
                                  \n
                                1. https:\/\/github.com\/VADER-CMU\/vader_sim<\/span><\/a>\n
                                    \n
                                  1. Note: according to README, please clone the xarm_sdk package from xarm_ros over the existing folder.\u00a0<\/span><\/li>\n<\/ol>\n<\/li>\n
                                  2. https:\/\/github.com\/VADER-CMU\/planning<\/span><\/a><\/li>\n
                                  3. https:\/\/github.com\/VADER-CMU\/vader_msgs<\/span><\/a><\/li>\n
                                  4. https:\/\/github.com\/VADER-CMU\/vader_dynamixel<\/span><\/a>\n
                                      \n
                                    1. Note: Please check in dynamixel_node.py that FakeCutter and FakeGripper are set to True.<\/span><\/li>\n<\/ol>\n<\/li>\n
                                    2. https:\/\/github.com\/VADER-CMU\/vader_hri<\/span><\/a><\/li>\n<\/ol>\n<\/li>\n
                                    3. In the docker, at docker_ws\/src, run catkin_make. Then, run source devel\/setup.bash.<\/span><\/li>\n
                                    4. 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.<\/span><\/li>\n<\/ol>\n<\/li>\n<\/ol>\n

                                      Single\/Dual Arm Teleoperation:<\/span><\/p>\n

                                      Follow the instructions in <\/span>https:\/\/github.com\/VADER-CMU\/gello_sim_dual_arm<\/span><\/a> to install and run the program. No other packages are required.<\/span><\/p>\n



                                      <\/p>","protected":false},"excerpt":{"rendered":"

                                      Documentation for FVD Each repository listed below contains additional documentation regarding the module, as well as comments in code. All repositories are public and accessible under https:\/\/github.com\/VADER-CMU. For up-to-date instructions. please visit https:\/\/github.com\/VADER-CMU, Instructions for running the full system: Documentation […]<\/p>\n","protected":false},"author":405,"featured_media":0,"parent":25,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-295","page","type-page","status-publish","hentry","clearfix"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teame\/wp-json\/wp\/v2\/pages\/295","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teame\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teame\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teame\/wp-json\/wp\/v2\/users\/405"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teame\/wp-json\/wp\/v2\/comments?post=295"}],"version-history":[{"count":6,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teame\/wp-json\/wp\/v2\/pages\/295\/revisions"}],"predecessor-version":[{"id":463,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teame\/wp-json\/wp\/v2\/pages\/295\/revisions\/463"}],"up":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teame\/wp-json\/wp\/v2\/pages\/25"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teame\/wp-json\/wp\/v2\/media?parent=295"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}