Realistic robot error generation - ROS Package

• Realistic robot error generation - ROS Package
  • Usage
  • Setup
    • Python dependencies
    • Install in ROS2 worskpace
    • Install in ROS1 workspace
  • Citation

Usage

Run error generation server

ros2 run realistic_error_generation error_generator_srv

Run example client

ros2 run realistic_error_generation example_client 

Using the error server from the command line (NOT WORKING YET)

ros2 service call /ObtainError realistic_error_generation_interfaces/srv/ObtainError

Setup

Python dependencies

To keep things clean, install pytorch dependencies in a virtual environment.

python3 -m venv ~/venvs/pytorch_ros
source ~/venvs/pytorch_ros2/bin/activate
# pytorch dependency - https://discuss.pytorch.org/t/installing-pytorch-under-python-3-8-question-about-networkx-version/196740 
pip install networkx==3.1
# Last compatible version of pytorch with python 3.8 is 2.0.0
pip install torch==2.0.0 torchvision==0.15.1 torchaudio==2.0.1 --index-url https://download.pytorch.org/whl/cu118

Close this terminal after finishing.

Install in ROS2 worskpace

Create your ROS 2 workspace and clone all repositories using vcs:

source /opt/ros/galactic/setup.bash
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
vcs import --input https://raw.githubusercontent.com/surgical-robotics-ai/realistic_error_generation/refs/heads/main/ros2-error-generation-devel.repos.yaml  

Compile using colcon

cd ~/ros2_ws
colcon build 
source ~/ros2_ws/install/setup.bash
## Make sure you can find your pytorch dependencies
export PYTHONPATH=~/venvs/pytorch_ros/lib/python3.8/site-packages:$PYTHONPATH

Install in ROS1 workspace

TODO

Citation

@misc{barragan2024improving,
      title={Improving the realism of robotic surgery simulation through injection of learning-based estimated errors}, 
      author={Juan Antonio Barragan and Hisashi Ishida and Adnan Munawar and Peter Kazanzides},
      year={2024},
      eprint={2406.07375},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}