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====== URoboSim Installation Instructions with UR5  ======

**The following manual is outdated, please refer to** [[https://github.com/urobosim/DemoProject|this readme]] **instead.**

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===== Installation Prerequisites =====

The system should optimally have an RTX or GTX-family GPU.

__**Operating System:**__ Ubuntu 18.04

__**ROS version:**__ Melodic (Full)

__**Unreal engine version to be installed:**__ 4.22.3

Source. You need to link your Epic Games account with github to access the sources. The process is explained in the install guide below.
https://github.com/EpicGames/UnrealEngine/archive/refs/tags/4.22.3-release.tar.gz

Install guide. **Making** the build (part 3.3.) takes very long and all cpu power. Start that before leaving the pc alone for a couple of hours.
https://docs.unrealengine.com/4.26/en-US/SharingAndReleasing/Linux/BeginnerLinuxDeveloper/SettingUpAnUnrealWorkflow/

__**Packages to be installed (Please report if I missed any):**__ 

ros-melodic-rosbridge-server

ros-melodic-robot-state-publisher

ros-melodic-tf

ros-melodic-tf2

ros-melodic-tf2-ros

ros-melodic-pr2-arm-kinematics


===== Access to URoboSim =====

Repo: https://gitlab.informatik.uni-bremen.de/haidu/RobCoG-URoboSim

User Account: To request a user account for our gitlab, please write an email to our admin ( pmania@cs.uni-bremen.de )

Access to repo: The aforementioned repo is private. Write an email to Michael Neumann ( neumann.michael@uni-bremen.de ) to gain access


===== Game Engine Side Configuration=====

1) clone URoboSim Repo recursively (dev branch) to some path

   git clone --branch dev --recurse-submodules https://gitlab.informatik.uni-bremen.de/haidu/RobCoG-URoboSim
   
2) update the plugin "URoboSim" to latest version

   cd RobCoG-URoboSim/Plugins/URoboSim
   git pull origin dev
   
3) clone the UR5 model for URoboSim
   
   git clone https://github.com/urobosim/URoboSimExampleRobots.git
   
4) run Unreal editor

   cd [your_path_to_unreal_engine_4.22]/Engine/Binaries/Linux
   ./UE4Editor [path_to_RobCoG-URoboSim_repo]/RobCoG.uproject

5) answer as "Yes" for the question of rebuilding   

6) After the editor launches, choose "Maps" folder from down below.

7) Remove PR2 by clicking onto it and hitting delete button.

8) Add UR5 model by 
  * clicking Import 
  * going into URoboSimExampleRobots path from Step 3
  * going into UR5_10/ur_description
  * clicking ur5.sdf
  * In the upcoming dialog menu, extending "Mesh" section and enable "Combine Meshes" checkbox
  * clicking import all
  * drag and drop ur5 from below menu to the environment
  * placing it somewhere appropriate like onto the kitchen island

9) Click onto UR5 in the environment and click to add component and add "RRosComponent"

10) Click onto UR5 in the environment and click to add component and add "RController"

11) Find UR5's RController component from the component menu at the right and configure it as in the image below (except Mode... Mode should be Kinematic for now):
{{ :ilias:rc1.png?600 |}}


12) Find UR5's RRosComponent component from the component menu at the right and configure it as in the image below:
{{ :ilias:rros1.png?600 |}}
{{ :ilias:rros2.png?600 |}}

13) Click Save Current


===== Catkin WS (ROS) Side Configuration=====

1) Your catkin workspace should have following ROS Packages/Metapackages checked out:
   https://github.com/urobosim/cram_unreal_world_tutorial
   https://github.com/urobosim/urobosim_msgs
   https://github.com/code-iai/omni_pose_follower
   https://github.com/utecrobotics/ur5
   https://github.com/code-iai/iai_common_msgs
   https://github.com/code-iai/iai_pr2
   https://github.com/code-iai/iai_maps
   https://github.com/asilx/urobosim_ros_config
   
2) catkin build or make your workspace

   

===== Running =====
Open three terminals and run the following commands in parallel:

1)

   cd [your_path_to_unreal_engine_4.22]/Engine/Binaries/Linux
   ./UE4Editor [path_to_RobCoG-URoboSim_repo]/RobCoG.uproject
   
2) 

   roslaunch rosbridge_server rosbridge_websocket.launch
   
3)

   roslaunch urobosim_ros_config world.launch
   
   
After these, press "Play" button in Unreal Editor