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Felix von Drigalski edited this page Jan 27, 2020 · 3 revisions

Getting Started

Follow the step-by-step guides below to get started.

  1. Initial setup of the environment
  2. Development in simulation
  3. Development on the real robot

Project Documentation

Find additional information regarding the project in the pages below.

External Resources

Consult the links below to access external resources related to the project.

Pipeline Status

devel: pipeline status master: pipeline status

Troubleshooting

If you have a problem, check below if it is already answered.

A camera or sensor I want to use does not work

You can install new drivers and software inside the docker container, but you need to add the installation commands in the dockerfile for our shared environment. Add the installation commands near the bottom of the Dockerfile so that the previous instructions can be reused.

Cannot connect to docker

ERROR: Couldn't connect to Docker daemon at http+docker://localhost - is it running?

Your user account is probably not in the "docker" group. Follow these instructions: https://askubuntu.com/questions/477551/how-can-i-use-docker-without-sudo

catkin build does not work / Error during build

Are you using the newest changes in the develop branch? Did you rebuild the docker image? Have you tried catkin clean -y && catkin build (this removes old build files and starts fresh)? In the host PC, have you initialized your submodules by executing cd ~/ur-o2as && git submodule update --init?

moveit does not load, xacro / param errors

If you just cloned the repository on a new machine, did you run rosrun o2as_parts_description generate_urdf_from_meshes.py and ... generate_assembled_piece.py?

Cannot access my files (no rights, access errors, could not save, permission denied etc.)

Inside docker, run ~/scripts/fix-permission-issues.sh

Explanation: When files are created inside docker, they belong to the user "root". The host computer does not have the rights to those files. The script sets the host PC's account as the owner of the files.

"segmentation fault" / Rviz and Gazebo do not start up

Your graphics driver is not configured correctly.

  • Do you have an Nvidia GPU? If not, follow these instructions
  • Have you checked out the develop branch and followed all the installation instructions, including the new install scripts?
  • Are you putting "sudo" in front of any commands where it does not belong? You should enter the container without sudo.
  • If you enter "echo $DOCKER_RUNTIME" on the host, what is the result? It needs to be "nvidia" if you are using a GPU and "runc" if you do not have an nvidia GPU. You may need to update it in your ~/.bashrc file.

Couldn't find an AF_INET address for [...]

Did you enter the docker container in all terminals? Are all the hostnames in /etc/hosts set correctly? What is ROS_IP set to?

If you are connecting a new machine to the system, this is related to the network configurations. Are all the hostnames entered in the /etc/hosts of each machine? Is /etc/hostname correct? Does echo $ROS_MASTER_URI point to the hostname of the PC running roscore (there can only be one)? Also check ROS_HOSTNAME, ROS_IP.

Something else is going wrong strangely

Never forget to source: cd ~catkin_ws && source devel/setup.bash

The robot is "overshooting" the target; does not stop at the target pose; the movement keeps going

Power off the robot and restart it. If that does not help, reset the robot to its factory settings.

Problem with the realsense camera inside the docker

  • Unplug/Replug USB cable..
  • Verify that the camera is plugged on a USB3.0 port. If the Realsense camera doesn't show up with dmesg | grep Real then the cable might have a problem
  • If none of the above works and realsense is not installed on the host. Install the realsense camera on the host following the instruction and test that the installation went well with realsense-viewer.
  • After reboot, the camera might not work, in this case type the command sudo modprobe uvcvideo
  • Test realsense-viewer on the host and it should work again.
  • If it's working, restart the docker so that the change in the kernel are effective inside the docker too.
  • Try realsense-viewer inside the docker and it should work.
  • Each time the camera is unplugged and replugged you will need to restart the docker, so be sure to launch realsense-viewer on the host first to test the usb connection. Then restart the docker and try it inside the docker. docker restart [tab-complete]
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