Niryo Simulation mode

This is a step-by-step guide for connecting Niryo One Studio to the RViz simulation. Let’s say it’s the first tutorial in my Niryo for Dummies serie đŸ™‚

Setup your laptop

I’m working on Ubuntu 16.04 LTS and ROS Kinetic that seems the optimal setup for Niryo at the time of writing.

Everything must be properly installed, seems logic to me, but I missed a step and got some headaches before getting it solved…

Just follow the instructions on https://github.com/NiryoRobotics/niryo_one_ros

$ sudo apt-get install ros-kinetic-robot-state-publisher ros-kinetic-moveit ros-kinetic-manipulation-msgs ros-kinetic-rosbridge-suite ros-kinetic-joy ros-kinetic-ros-control ros-kinetic-ros-controllers ros-kinetic-tf2-web-republisher

And

$ sudo -H pip install jsonpickle

Note that pip must be installed

$ sudo apt-get install python-pip

I suppose you already installed Niryo One Studio (currently on version 1.1.0) so let’s move forward!

Edit: v2.0.0 is now available!

Launch Niryo in simulation mode

$ roslaunch niryo_one_bringup desktop_rviz_simulation.launch

The only error I ‘ve in the log is about the joystick not plugged. Ok, it’s fine!

niryo_simulation_launch

After a while, RViz will appear showing Niryo in its rest position. I closed both side panels and moved that window to my secondary monitor.

Niryo_sim

Launch Niryo One Studio

You need now to point NOS to your laptop IP address in order to connect it to the simulation

You have your laptop IP address, don’t you?

hint: in terminal run ifconfig and check the interface you are using for the connection (mine was wireless, so wlp58s0 – 172.20.10.2 made sense).

Or, as suggested by Edouard, you can just enter “localhost”

So:

  1. Open the menu
  2. Insert the laptop IP address
  3. Confirm
  4. Connect

Niryo One Studio_001

You are now able to move the joints and push the action to the RViz simulation.

Screenshot from 2018-08-29 12-16-10.png

Stay tuned fore more!

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