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:

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:

git clone git@github.com:raionrobotics/raisin_master.git

Create the configuration file:

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:

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:

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:

raisin setup

This copies the installed packages to the install directory. It also sets up the install dependency chain.

Install system dependencies:

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:

    install/bin/raisin_raibo2

  2. Start the GUI in another terminal:

    install/bin/raisin_gui

After the GUI starts, you will see the robot selection window:

quick_start1

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.

quick_start2

Click the Connect button.

quick_start3

Once connected, three additional buttons appear. For this tutorial, open the Developer Window.

quick_start4

The robot node is currently off. The robot server is on and manages the node. Turn on the robot node.

quick_start5

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.

quick_start6

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.

quick_start7

Once the simulation is running, launch raisimUnreal.sh from the Raisim Unreal folder you downloaded.

quick_start8

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.

quick_start9

Port 7000 renders the simulation world with the exact simulation state.

To learn more about Raisim and Raisim Unreal, see Raisim documentation.