Differences

This shows you the differences between two versions of the page.

--- virtual [2018/05/31 15:59] – created awich
+++ virtual [2018/06/01 06:49] (current) – awich
@@ Line 1: / Line 1: @@
 ===== Running Instructions for Virtual Reality demo =====
-==== Initial State ====
+==== Start the demo ====
-. Go the robot lab and look for a desktop computer to which a Headset and Motion Controllers are connected (Its on a corner of the lab).
-. If that computer is not turned on, turn it on.
-. Login with the user account "RobCog" with the password "robcog".
-. Look for Steam, and start it. On the upper-right corner of the window there is a small icon which starts the detection of the motion devices.
-. Wait until the Headset and each of the motion controllers were detected (icons stopped blinking and are in green)
-. Start the Unreal environment by clicking the icon VR-demo placed on the desktop.
-. To navigate in the Unreal editor one has to constantly hold the right-click button of the mouse and use the ASDF keys to navigate (q and e for going down and up).
-. On the upper right there is a camera symbol with which one can set camera-navigation velocity.
-. Pressing "Play preview" starts virtual environment
-* When someone complains about blurred view, its because headset is not at the right position with the eyes.
-* try to leave the cable of the headset behind you
-. Close all programs
-. Logout of the windows session
-. If asked about more videos, show bookmarked Vimeo videos on internet browser (Firefox)
-Put some oil into the pot and the pot onto the bottom level:
+. Go the robot lab and look for a desktop computer to which an Headset and Motion Controllers are connected (Its on a corner of the lab).
-{{intern:demos:img_20170309_125111.jpg?300|}}
+. If that computer is not turned on, turn it on.
-Align it between the black tape markers, such that the pot touches the markers. The handles should be parallel to the edge.
+. Login with the user account "RobCog" with the password "robcog".
-Put the lid and the bowl into the top right drawer. Put some popcorn into the bowl, just enough to cover the bottom of the bowl.
+. Look for Steam, and start it by clicking on it. On the upper-right corner of the window there is a small icon which starts the detection of the motion devices.
-{{intern:demos:img_20170309_125128.jpg?300|}}
+. Wait until the Headset and each of the motion controllers are detected (all icons stopped blinking) and the light on the motion controllers are green.
+If this is not the case, first make sure that motion devices are indeed connected to the PC. If they were already connected, reboot the PC.
-The lid should be in the corner touching the drawer walls. The bowl should have some space in the front as the robot is going to a apply a front grasp to it. This means, don't put the bowl too close to the drawer front wall or the robot's hand won't fit in.
+. Start the Unreal environment by clicking the icon VR-demo placed on the desktop.
-Put the plate into the top left drawer:
+. To navigate in the Unreal editor one has to constantly hold the right-click button of the mouse and use the "asdf" keys to navigate ("q" and "e" for going down and up).
-{{intern:demos:img_20170309_125246.jpg?300|}}
+. In order to render the virtual environment one has to press the "Play" button. Verify that "Play preview" is selected, which is usually the case.
-The robot is going to apply a diagonal side grasp on the plate, so leave some space to the right and to the front of the plate or robot's hand won't fit in.
+. Wear the Headset and controllers.
+Beware that as soon as you disconnect the mini-USB connectors from the hand-held controllers, they will turn off (and therefore will not be listed as detected anymore). Turn the controllers on by pressing the middle button on the controller,  it has two overlapped squares on it.
-Put the salt cellar onto the table on the left back side:
+. Finally, launch the virtual kitchen by pressing the menu button, which is the upper-button on the controller that looks like a hamburger. As soon as you pressed that button the interaction in the virtual environment starts.
-{{intern:demos:img_20170309_125322.jpg?300|}}
+. Perform your demo.
-There is a small "+" drawn on the table. The best is to sit the salt cellar on it. The robot will look for the salt cellar in the whole region left of the black plate. **Danger**: if the salt cellar is too far the robot might be unable to reach it. So just put it on the plus to stay on the safe side:
+Tips:
-{{intern:demos:img_20170309_125344.jpg?300|}}
+* Try to start your demo leaving the cable connected to the headset behind you.
+* When wearing the handheld devices, use the wristbands.
-==== Running Steps ====
+* When someone complains about a blurred view, its because the headset needs to be accommodated. The headset can be adjusted to different head sizes.
-Login into pr2a machine (password is "popcorndemo"):
-  ssh -X popcorndemo@pr2a
+* If the color on the handheld controller is BLUE, they will be listed as detected on the screen as long as they are connected to the mini-USB but will not work unplugged. In order to make it work again, you need to pair both controllers as indicated
+[[https://www.vrheads.com/how-pair-your-htc-vive-controllers?title=Pairing|here]].
-You will find all the steps in the home directory of the popcorndemo user on PR2:
-  /home/popcorndemo/popcorn-demo-running-instructions.md
+==== Stop the demo ====
-Now please follow the steps in that file.
+. Press again the same button with which you started the virtual kitchen (the menu button that looks like a hamburger).
-==== RViz Setup ====
+. Please connect the motion controller to the mini-USB to recharge them fully again for a next demo or recording.
-You can find a good RViz configuration in the popcorndemo user of PR2:
+. Press ESC on the keyboard, and close the Unreal editor.
-  /home/popcorndemo/.rviz/default.rviz
+. Open again the STEAM windows and click again on the icon on the upper-right corner to disable motion devices.
-Feel free to copy it over to your local machine or use VirtualGL or "ssh -X" to run RViz directly on the robot.
+. Logout of the window session
-You will need the following things visualized in RViz:
+Please do not forget to perform step 4 and 5. This PC is used by many people and if you skip those steps, the next user will have no other option than rebooting the computer to get access to the motion devices.
-  * **Navigation map**: Add -> Map, Topic: /map
-  * **Base laser sensor data**: Add -> LaserScan, Topic: /base_scan
-  * **Kinect v.1 sensor data**: Add -> PointCloud2, Topic: /kinect_head/detph_registered/points
-  * **Localization hypotheses**: Add -> PoseArray, Topic: /particlecloud
-  * **Robot state**: Add -> RobotModel, Robot Description: robot_description
-{{ :intern:demos:screenshot_from_2017-08-14_13_16_18.png?600 |}}
-When localizing the robot after you just started up, you need to click the "2D Pose Estimate" button.
-Keep in mind that for using this button from your local machine you need to have your ROS_IP exported correctly:
-  $ export ROS_IP=192.168.xxx.xxx
-If you don't do this you will only have one sided communication with the ROS master, you will hear what the robot is saying but the robot won't hear you. To make sure, listen to the "clicked_point" topic on the robot to see if RViz clicking reaches its destination.
-==== Possible failures ====
-If you need to stop the demo:
-  pkill popcorn_cooking
-and then you can restart the demonstration in the desired step.
-If roscore is already running, run the command to see the processes:
-  robot plist
-If necessary, to stop the processes run the command:
-  robot stop
-==== Troubleshooting ====
-=== The localization is not precise enough ===
-If people have updated the PR2 recently, then the package ros-indigo-pr2-navigation-global overwrites our local AMCL configuration.
-To fix it:
-  roscd ros-indigo-pr2-navigation-global
-  sudo cp amcl_node.xml amcl_node.xml.orig
-  sudp cp amcl_node_iai.xml amcl_node.xml
-That will overwrite the AMCL configuration with the parameters that Alexis chose in 20170309 when Gheorghe was having weird localization issues. The parameters were chosen so that it trusts the odometry much less (and the laser more), also switching the odometry model to "omni-corrected" which fixes a long-standing bug that made the localization much worse than it needed to be. The amount of laser rays evaluated is higher, and the distance for recalculating the localization got reduced. Both those things increase CPU usage, but with the new PCs it is not significant.
-=== The zero of the joints is off ===
-We often have the wrist angle on either arm wrong by about 30 degrees. You can notice by watching rviz and noticing that the wrist angles are off.
-Re-doing the startup calibration fixes that, which you can do by turning the robot completely off and restarting, or by following the instructions [[http://projects.csail.mit.edu/pr2/wiki/index.php?title=Troubleshooting_PR2|here]]. Also check [[http://wiki.ros.org/pr2_controller_manager/Troubleshooting|pr2_controller_manager Troubleshooting]]
-Basically:
-  _Turn motors off_ and force hand in straight position
-  robot start
-  rosrun pr2_controller_manager pr2_controller_manager stop r_arm_controller
-  roscd pr2_controller_configuration
-  rosparam load pr2_calibration_controllers.yaml
-  rosparam set cal_r_wrist/force_calibration true
-  rosrun pr2_controller_manager pr2_controller_manager spawn cal_r_wrist
-  _turn motors on_ the robot should start moving its wrist in calibration wait for the movement to complete
-  robot start