Introduction

This project provides the real robot system integration code for the HoloBrain project.

For model training and evaluation, please refer to the HoloBrain project in RoboOrchardLab.

Please refer to the docs for more details.

Quick Start

Docker pull

docker pull horizonrobotics/holobrain:v0-ubuntu22.04-py3.10-ros-humble-torch2.8.0

Launch scripts

[Host] means launch in host, [Docker] means launch in docker.

[Host] Identify CAN Ports for Robotic Arms

Run the following script to list connected devices:

bash teleop/find-all-can-port.sh

Tip: Connect the robotic arms one by one to identify the specific port corresponding to each arm.

Since hardware configurations vary across machines, a unified CAN port configuration is not possible. A template script is provided for you to customize:

cp teleop/templates/rename-can.sh teleop/

Open the file and modify the USB_PORTS field according to your actual hardware setup.

[Host] Configure Extrinsic Parameters

Due to varying environmental setups, extrinsic parameters will differ. Please use the provided template to configure them:

cp data/tf/templates/gen_tf_config.py data/tf

Open the file and update the parameters to match your specific calibration data.

[Host] Start Docker

As directory structures vary between machines, a unified startup script is not provided. Please customize the template below:

cp launch/templates/docker.sh launch/

Open docker.sh, modify the volume mount paths and necessary environment variables, and then start the container:

bash launch/docker.sh

[Docker] Install RoboOrchard

⚠️ Note: It is recommended to repeat this step whenever the RoboOrchard codebase is updated.

Once inside the Docker container, create a virtual environment and follow the RoboOrchard documentation to install RoboOrchard and the corresponding ROS2 packages.

mkdir venv
python3 -m venv venv/robot-venv
source venv/robot-venv/bin/activate
source /opt/ros/humble/setup.bash

export ROBO_ORCHARD_PATH=/path/to/roboorchard

cd $ROBO_ORCHARD_PATH

git config --global --add safe.directory $ROBO_ORCHARD_PATH
git config --global --add safe.directory $ROBO_ORCHARD_PATH/python/robo_orchard_core
git config --global --add safe.directory $ROBO_ORCHARD_PATH/python/robo_orchard_schemas
git config --global --add safe.directory $ROBO_ORCHARD_PATH/python/robo_orchard_lab

# prepare env
make dev-env
make ros2-dev-env

# install python packages
make install-editable

# install ros2 packages
make ros2-build

[Host] One-Click Start

  1. Install dependencies:

pip install -r launch/requirements.txt

  1. Create and customize the configuration file:

cp launch/templates/launch.yaml launch/

  1. Execute the launch script:

./launch/start.sh

[Host] Stop

To stop the system, run:

./launch/stop.sh