The operating system to be used is Ubuntu 22.04.
It is necessary to have ROS2 HUMBLE installed on your computer. To do this, you can follow the steps detailed in the official documentation: ROS2 HUMBLE Installation.
Additionally, MoveIt needs to be installed. To start with the installation and configuration, you can follow the official tutorials here: MoveIt Tutorial.
You will also need to install Docker. You can find the installation steps for Ubuntu 22.04 at the following link: Install Docker on Ubuntu 22.04. You can configure Docker so you don’t have to use sudo to run it as root, or you can use sudo in the commands. In my videos, you will see that I use sudo.
To visualize and compare graphical performance, it is recommended to use glxgears. This tool allows you to measure your system's graphics performance. To install it, use the following command:
sudo apt install mesa-utils.
glxgears.
To check the functionality of MoveIt, follow the tutorials on the official page mentioned earlier.
Below is an example of a pick and place exercise found at:
GitHub Diego.
There are two ways to run this exercise: using GPU for better performance or without it, which will result in lower performance.
To test Docker with GPU, use:
docker run -it --device /dev/dri --gpus all -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -v $HOME/.Xauthority:/root/.Xauthority -e XAUTHORITY=/root/.Xauthority --name ejercicio_pickplace diegomrt/pickplace_exercise_ros2:1.1
Without GPU:
docker run -it -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -v $HOME/.Xauthority:/root/.Xauthority -e XAUTHORITY=/root/.Xauthority --name ejercicio_pickplace diegomrt/pickplace_exercise_ros2:1.1
If the container already exists, remove it with:
sudo docker stop ejercicio_pickplace
sudo docker rm ejercicio_pickplace
Below, I will show a video of the execution without GPU, where you can see how slow it runs, even with the video at 4x speed, until the exercise execution, which can be seen in real-time. We can observe that the FPS barely reach 1.
During the execution, the terminal output shows the actions being performed by the UR.
