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tutorials:demo:fetch_and_place [2021/11/08 13:15] – [Install] arthur | tutorials:demo:fetch_and_place [2021/12/13 10:42] (current) – [Tutorial 0: Getting into Emacs] arthur | ||
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This tutorial is from the "Demo Tutorials" | This tutorial is from the "Demo Tutorials" | ||
- | Here is a link to a video that walks through | + | ===== Important Links ===== |
+ | |||
+ | * The {{ : | ||
+ | * The [[https:// | ||
+ | * An explanation | ||
- | https:// | ||
- | (or https:// | ||
===== Motivation ===== | ===== Motivation ===== | ||
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==== Technical Requirements ==== | ==== Technical Requirements ==== | ||
- | The VM image with VirtualBox has been successfully tested | + | * The VM image with VirtualBox has been successfully tested |
- | + | * Some kind of GPU, dedicated or integrated, is required | |
- | The machine on which you will be running the system needs a graphics card, it can be a built in laptop GPU as well. | + | * At least 8GB of excess |
- | + | ||
- | We recommend | + | |
- | (The VM itself needs 4 GB of RAM, so the host machine should have at least 5 GB but 8 GB or more would be optimal.) | + | |
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==== VirtualBox Setup ==== | ==== VirtualBox Setup ==== | ||
- | |||
- | TODO: Update VM image link. | ||
First of all, download the Virtual Disk Image [[https:// | First of all, download the Virtual Disk Image [[https:// | ||
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{{ : | {{ : | ||
- | Everything is set up. The VM can now be started. The Ubuntu | + | Everything is set up. The VM can now be started. The Ubuntu |
- | + | ||
- | + | ||
- | + | ||
+ | === Last adjustments === | ||
+ | There are two versions of CRAM available in the VM. By default, the setup is designed to connect and work with a project from the Unreal Engine, for intricate physics simulation. We don't need any of that for the upcoming tutorials, instead we change to the stable, standalone version of CRAM. In the VM, launch a terminal with Ctrl-Alt-T and open up the file '' | ||
+ | < | ||
+ | nano .bashrc | ||
+ | </ | ||
+ | Put a ''#'' | ||
+ | By doing so, the terminal uses a different ROS workspace. Sourcing a ROS workspace enables the terminal session to access everything from that workspace, like loading a programming environment, | ||
===== Understanding the Basics ===== | ===== Understanding the Basics ===== | ||
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Alternatively, | Alternatively, | ||
- | ==== Emacs ==== | + | |
+ | ==== ROS ==== | ||
+ | |||
+ | ROS stands for Robot Operating System. | ||
+ | It is software that makes a robot programmer' | ||
+ | For example, it allows programs written in different programming languages to talk to each other. | ||
+ | |||
+ | |||
+ | ==== Lisp ==== | ||
+ | |||
+ | We are going to program our robot in the Lisp programming language. | ||
+ | |||
+ | This language has a convenient command line. | ||
+ | If you are curious why Lisp, [[http:// | ||
+ | |||
+ | |||
+ | |||
+ | ===== Tutorial 0: Getting into Emacs ===== | ||
Emacs is one of the oldest text editors and one of the two most popular text editors in the Linux world. | Emacs is one of the oldest text editors and one of the two most popular text editors in the Linux world. | ||
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To see useful key shortcuts for your Emacs IDE, [[http:// | To see useful key shortcuts for your Emacs IDE, [[http:// | ||
+ | {{ : | ||
- | ==== ROS ==== | + | Run and play the orc-battle.lisp program |
- | + | ||
- | ROS stands for Robot Operating System. | + | |
- | It is software that makes a robot programmer' | + | |
- | For example, it allows programs written in different programming languages | + | |
- | + | ||
- | + | ||
- | ==== Lisp ==== | + | |
- | + | ||
- | We are going to program our robot in the Lisp programming language. | + | |
- | + | ||
- | This language has a convenient command line. | + | |
- | If you are curious why Lisp, [[http:// | + | |
- | + | ||
- | + | ||
- | + | ||
===== Tutorial 1: Simple Fetch and Place ===== | ===== Tutorial 1: Simple Fetch and Place ===== | ||
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Picking objects from different angles can be helpful in occluded environments. Go to the [[http:// | Picking objects from different angles can be helpful in occluded environments. Go to the [[http:// | ||
+ | |||
+ | |||
+ | < | ||
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+ | --></ | ||