🦾 AI-Worker

1. Introduction

This is the AI-Worker project repository. It supports the control of the Follower device (hand, lift, and head) as well as the Leader device (arms and hands).

This package supports ROS 2 Jazzy and Gazebo Harmonic on Ubuntu 24.04.

2. Installation Methods

You can choose between two installation methods:

Option 1: Using Docker (Recommended)

This method provides an isolated environment with all dependencies pre-installed.

1. Install Docker and Docker Compose Follow the official Docker installation guide: Install Docker Engine

2. Clone the Repository

   git clone https://github.com/ROBOTIS-GIT/ai_worker.git
   cd ai_worker
   

1. Container Management The repository includes a container management script with the following commands:

   # Show help
   ./docker/container.sh help

   # Start container with Gazebo support
   ./docker/container.sh start with_gz

   # Start container without Gazebo support
   ./docker/container.sh start without_gz

   # Enter the running container
   ./docker/container.sh enter

   # Stop and remove the container
   ./docker/container.sh stop
   

[Note] When stopping the container, you'll be asked for confirmation as this will remove all unsaved data in the container.

1. Data Persistence The container maps the following directories for data persistence:
   • ./docker/workspace:/workspace - The workspace directory inside the docker folder is mapped to /workspace inside the container

   [Important] Data Persistence Rules:

   • Data in /workspace inside the container is saved to docker/workspace on your host
   • Container restart (using docker restart) maintains all data
   • Container removal (using container.sh stop) will remove all data except what’s in the mapped /workspace directory
   • Always save your work in the /workspace directory to ensure it persists after container removal</u>

Option 2: Host Installation

Follow these steps if you prefer to install directly on your host system:

1. Prerequisites

   • Supported ROS Version This package is compatible only with ROS 2 Jazzy. Ensure that ROS 2 Jazzy is properly installed.

   • USB Port Permissions To enable communication with the hardware, add your user to the dialout group:

     sudo usermod -aG dialout $USER
     

 **A login and logout are required.**

1. Install Required Packages

Install the following dependencies:

sudo apt-get update && sudo apt-get install -y \
    libboost-all-dev \
    ros-jazzy-hardware-interface \
    ros-jazzy-controller-manager \
    ros-jazzy-ros2-controllers \
    ros-jazzy-tf-transformations \
    ros-jazzy-gz* \
    ros-jazzy-pal-statistics \
    python3-tk
sudo apt-get install -y ros-jazzy-moveit-* --no-install-recommends

1. Clone the Repository**

Navigate to your ROS 2 workspace and clone the repository:

cd ~/${WORKSPACE}/src

git clone -b jazzy https://github.com/ROBOTIS-GIT/DynamixelSDK.git && \
git clone -b jazzy https://github.com/ROBOTIS-GIT/dynamixel_interfaces.git && \
git clone -b jazzy https://github.com/ROBOTIS-GIT/dynamixel_hardware_interface.git

1. Build the Package

Compile the package using colcon:

cd ~/${WORKSPACE}
colcon build --symlink-install

1. Source the Workspace

source ~/${WORKSPACE}/install/setup.bash

3. Execution Commands

Step 1: Choose Your Operating Mode

1️⃣ Leader-Follower Mode

For leader-follower functionality, use:

ros2 launch ffw_bringup ffw_teleop_with_rh.launch.py

Ensure proper connection and detection of leader and follower devices.

Operation Sequence upon Launch

1. Establish hardware connection with the follower device.
2. Move the follower device to the initial position.( Standing position with arms outstretched)
3. Establish hardware connection with the leader device.

2️⃣ Standalone Mode

For standalone mode, launch:

ros2 launch ffw_bringup hardware_follower_teleop_with_rh.launch.py

*Only the follower is connected to the hardware interface.

ros2 launch ffw_bringup hardware_leader_with_rh.launch.py

*Only the Leader is connected to the hardware interface.

ros2 launch ffw_bringup hardware_follower_with_rh.launch.py

*Mode to operate the follower via MoveIt

3️⃣ Gazebo Simulation Mode

For Gazebo simulation mode, launch:

ros2 launch ffw_bringup gazebo.launch.py

Ensure that Gazebo Harmonic is properly installed and configured before running the simulation.

Step 2: Extend Functionality

1. MoveIt! Launch

Enable MoveIt functionality for advanced motion planning in RViz: *Before operation, either hardware_follower_standalone.launch.py or Gazebo must be launched.”

ros2 launch ffw_moveit_config moveit_core.launch.py

Move interactive markers to position the robotic arm, then click Plan and Execute.

2. GUI Teleop

While hardware_follower_teleop_with_rh.launch.py is running, you can execute the GUI with the command

ros2 run ffw_teleop keyboard_control_with_rh.py`.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Contributors must sign-off each commit by adding a Signed-off-by: ... line to commit messages to certify that they have the right to submit the code they are contributing to the project according to the Developer Certificate of Origin (DCO).