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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, Motion Designator and the PyCRAM plan language. The second one shows the usage of the BulletWorld and its reasoning mechanisms. 
 +
 +===== Demo 1 ===== 
 +For this demo a real PR2 is needed. Furthermore, ROS1 is needed to communicate with the PR2.
 +It is meant to show what  is possible with the ProcessModules, Motion Designator and PyCRAM plan language. 
 +
 +==== 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:
 +<code>apt install python-pip python3-pip libbullet-dev python-virtualenv</code>
 +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. 
 +<code>mkdir -p ~/ros_ws/src</code>
 +<code>cd ros_ws/src </code>
 +<code>git clone https://www.github.com/ros/geometry</code>
 +<code>git clone https://www.github.com/ros/geometry2 </code>
 +<code>git clone https://www.github.com/cram2/pycram</code>
 +
 +Now the virtual environment can be created and activated. 
 +<code>virtualenv -p /usr/bin/python3 venv</code>
 +<code>source venv/bin/activate </code>
 +
 +With the virtual environment up and running the Python ROS packages can be installed. 
 +This can be done via pip.
 +<code> pip install -U rosdep rosinstall-generator wstool rosinstall ros-buildfarm rosdistro rospkg pyyaml catkin_pkg </code> 
 +
 +==== Run the Demo ====
 +Now the Demo can be run by simply executing the run.py srcipt.
 +<code>cd ~/ros_ws/src/pycram/demos/pycram_pr2_demo/src</code>
 +<code>python3 run.py</code>
 +
 +===== 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.
 +<code> apt install python3-pip</code>
 +To install the required packages via pip the following command is used.
 +<code>pip3 install pybullet pathlib numpy</code>
 +
 +Now the Repository needs to be cloned. This step can be skiped if the setup of the first demo was already done. 
 +<code>git clone https://www.github.com/cram2/pycram.git</code>
 + 
 +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: https://github.com/PR2/pr2_common/tree/melodic-devel/pr2_description
 +
 +The kitchen description: https://github.com/code-iai/iai_maps/tree/master/iai_kitchen
 +
 +==== 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.
 +<code>cd <path to the repo>/demos/pycram_pr2_bullet_world_demo</code>
 +Now execute the run.py.
 +<code>python3 run.py</code>