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— | tutorials:pycram:demo [2020/04/08 09:39] – created jdech | ||
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+ | ====== Run the PyCRAM demos ====== | ||
+ | There are two demos available for PyCRAM, the first can only be used with a real PR2 and shows how to use the ProcessModules, | ||
+ | |||
+ | ===== Demo 1 ===== | ||
+ | For this demo a real PR2 is needed. Furthermore, | ||
+ | It is meant to show what is possible with the ProcessModules, | ||
+ | |||
+ | ==== Setup ==== | ||
+ | Because ROS1 works mostly with Python2 and PyCRAM is written in Python3 a virtual environment is needed. | ||
+ | To setup this virtual environment a few packages need to be installed. In Ubuntu this can be done with the following command: | ||
+ | < | ||
+ | Libbullet is needed for the ROS1 geometry2 package which is used in this demo. | ||
+ | |||
+ | Now setup a new ROS workspace and pull the required packages. | ||
+ | < | ||
+ | < | ||
+ | < | ||
+ | < | ||
+ | < | ||
+ | |||
+ | Now the virtual environment can be created and activated. | ||
+ | < | ||
+ | < | ||
+ | |||
+ | With the virtual environment up and running the Python ROS packages can be installed. | ||
+ | This can be done via pip. | ||
+ | < | ||
+ | |||
+ | ==== Run the Demo ==== | ||
+ | Now the Demo can be run by simply executing the run.py srcipt. | ||
+ | < | ||
+ | < | ||
+ | |||
+ | ===== Demo 2 ===== | ||
+ | Running the second demo is a bit simpler because no real PR2 is needed and the setup is a bit simpler. | ||
+ | |||
+ | ==== Setup ==== | ||
+ | To run the demo a few packages need to be installed, they are all available via PyPi. | ||
+ | If you already installed pip you can skip this, if not the pip version for Python3 can be installed with the following command. | ||
+ | < | ||
+ | To install the required packages via pip the following command is used. | ||
+ | < | ||
+ | |||
+ | Now the Repository needs to be cloned. This step can be skiped if the setup of the first demo was already done. | ||
+ | < | ||
+ | |||
+ | This demo needs the models of the PR2 and the kitchen of the Institute of Artificial Intelligence. | ||
+ | They need to be in the resources directory in the PyCRAM repo. | ||
+ | |||
+ | The PR2 description: | ||
+ | |||
+ | The kitchen description: | ||
+ | |||
+ | ==== Run the Demo ==== | ||
+ | Now that all dependencies are installed the demo can be executed. | ||
+ | For this you just need to enter the pycram_pr2_bullet_world_demo in the PyCRAM repo. | ||
+ | < | ||
+ | Now execute the run.py. | ||
+ | < | ||