HOMESTRI-Explanation-BTs

ROS packages for running explainable behavior trees with Docker setup for HOMESTRI UR5e robot environment.

This repository contains ROS packages for running explainable behavior trees (BTs) for the HOMESTRI UR5e robot environment. It includes a Docker setup to simplify the environment configuration.

Prerequisites

Before you get started, ensure that your system meets the following prerequisites:

• Ubuntu Operating System: This project has been tested on Ubuntu 22.04.
• Installed Nvidia Drivers: Refer to How to Install Nvidia Drivers on Ubuntu 22.04 for installation instructions.
• Docker Engine: Install Docker Engine by following the guide provided in Docker Engine Installation.
• Nvidia Container Toolkit: Setup Nvidia Container Toolkit using the instructions in Nvidia Container Toolkit Installation.
• (Optional) Nvidia CUDA Toolkit: If needed, you can install Nvidia CUDA Toolkit on Ubuntu 22.04 by following Install Nvidia CUDA Toolkit on Ubuntu 22.04.

Installation Steps for Development

Follow these steps to set up your environment for UR5e robot development:

1. Install Prerequisites: Ensure that your system meets the prerequisites listed above, including Nvidia drivers, Docker Engine, and Nvidia Container Toolkit.

2. Configure Docker: To run Docker commands without using sudo, perform the following steps:

   sudo groupadd docker
   sudo usermod -aG docker ${USER}
   reboot

3. Clone the Repository: Clone this repository to your local machine using the following command:

   git clone https://github.com/ian-chuang/HOMESTRI-Explanation-BTs.git homestri_explanation_bts
   cd homestri_explanation_bts
   git submodule init
   git submodule update

4. Install Visual Studio Code Extensions: Install the Docker extension and Remote Development extension for Visual Studio Code.

5. Run the Docker Container: Navigate to the root folder of the cloned repository and run the following command to start the Docker container:

   docker compose up

6. Attach Visual Studio Code: Open Visual Studio Code, go to the Docker tab, right-click on the container, and select "Attach VSCode." This action will provide you with a Visual Studio Code environment within the container, preconfigured with ROS settings.

How to Run

To run the system, follow these steps:

• Bringing up the Fake Robot: Run the following command to bring up the fake robot:

  roslaunch xbt_bringup fake_bringup.launch

• Bringing up the Real Robot: Alternatively, if you have a real robot, use this command to bring it up:

  roslaunch xbt_bringup real_bringup.launch

• Creating and Running Behavior Trees: To create and run behavior trees, refer to the xbt_bringup/bt_xml directory for organization. Each behavior tree is enclosed in its directory within xbt_bringup/bt_xml. This directory contains multiple XML files for different subtrees of the behavior tree and a main XML file that contains the starting tree.

  Additionally, there must be a 'config' folder that contains:

  • settings.yaml and tags.yaml for configuring the apriltag_ros package.
  • transforms.yaml for configuring and publishing static transforms in tf2_ros.

  To run, use the following command, replacing {bt directory name in bt_xml} with the name of the behavior tree directory you want to use in xbt_bringup/bt_xml. For example, if you have a directory xbt_bringup/bt_xml/collect_zeolite, then you would put bt:=collect_zeolite as follows:

  roslaunch xbt_bringup run_xbt.launch bt:=collect_zeolite

  Once you launch, the explainable behavior tree GUI will open. To run the behavior tree, click the 'Run' button.