=========== Quick Start =========== Prerequisites ============= * Ubuntu 22.04 or later * Intel i7 or higher CPU; NVIDIA 5060 or higher GPU (for camera simulation) * Raisim activation key (provided by Raion Robotics) * Raisin GitHub token (provided by Raion Robotics) * Raisim Unreal binary for visualization (`Raisim releases `_); the mobile version is recommended * A valid graphics driver for your GPU * Gamepad for robot control (Logitech F710 recommended; any Linux-supported joystick works) Raisim Setup ============ Raisim requires an activation key file named ``.raisim`` in your home directory. Save the provided key to ``$HOME/.raisim``. Example: .. code-block:: bash cp /path/to/activation.key $HOME/.raisim Raisim reads this key at runtime, regardless of where you launch the executables. Raisin Master Setup =================== Raisin Master is a package manager and middleware for robotics software. See `Raisin Master documentation `_ for details. Clone it into your workspace: .. code-block:: bash git clone git@github.com:raionrobotics/raisin_master.git Create the configuration file: .. code-block:: bash cd raisin_master cp configuration_setting_example.yaml configuration_setting.yaml Open ``configuration_setting.yaml`` and replace ``ghp_mytoken_code`` with your Raion Robotics GitHub token. You can also change ``user_type``. The ``devel`` type grants access to pre-release packages (newer features, less testing). Install Python dependencies and the Raisin script: .. code-block:: bash pip install -r requirements.txt ./raisin --install The steps below assume the script is installed. Simulation and GUI Package Setup ================================ This guide assumes you are installing the Raibo2 simulation. From the Raisin Master repository directory (for example, ``raisin_master``), run: .. code-block:: bash raisin install raisin_raibo2 raisin_gui These packages require your Raion Robotics GitHub token. After installation, verify the packages in the ``release`` directory. Set up the environment: .. code-block:: bash raisin setup This copies the installed packages to the ``install`` directory. It also sets up the install dependency chain. Install system dependencies: .. code-block:: bash bash install_dependencies.sh Administrative privileges are required to download system packages. How to Run the Simulation ========================= Executables are located in ``install/bin`` after you set up the environment. Binaries with the ``debug_build`` suffix are for debugging only. 1. Start the simulation node: .. code-block:: bash install/bin/raisin_raibo2 2. Start the GUI in another terminal: .. code-block:: bash install/bin/raisin_gui After the GUI starts, you will see the robot selection window: .. image:: ../image/quick_start_1.png :alt: quick_start1 :width: 800 If you launch multiple Raibo2 nodes, they appear in this list along with any robots discovered on your local network. Select the robot you want to control. .. image:: ../image/quick_start_2.png :alt: quick_start2 :width: 800 Click the Connect button. .. image:: ../image/quick_start_3.png :alt: quick_start3 :width: 800 Once connected, three additional buttons appear. For this tutorial, open the Developer Window. .. image:: ../image/quick_start_4.png :alt: quick_start4 :width: 800 The robot node is currently off. The robot server is on and manages the node. Turn on the robot node. .. image:: ../image/quick_start_5.png :alt: quick_start5 :width: 800 When the robot is on, it publishes multiple topics that appear in the Developer Window. For a quick start, choose the vision controller and press Load. This calls the load controller service in the background. .. image:: ../image/quick_start_6.png :alt: quick_start6 :width: 800 You can now control the robot with your gamepad. Button mappings vary by controller, so test yours first. The image below highlights key areas of the Developer Window. .. image:: ../image/quick_start_7.png :alt: quick_start7 :width: 800 Once the simulation is running, launch ``raisimUnreal.sh`` from the Raisim Unreal folder you downloaded. .. image:: ../image/quick_start_8.png :alt: quick_start8 :width: 800 The Raisin node exposes two ports. It connects to port **8080** by default. Port 8080 renders the World Hub, which contains the estimated and perceived world state. To view the simulation world, clear ``AutoConnect``, enter port **7000**, and click Connect again. .. image:: ../image/quick_start_9.png :alt: quick_start9 :width: 800 Port 7000 renders the simulation world with the exact simulation state. To learn more about Raisim and Raisim Unreal, see `Raisim documentation `_.