Execute Cleanup Task with HSR

Startup Procedure

Start the Ubuntu side and then the Windows side.

Ubuntu Side Startup Procedure

Open a new terminal and run the following command:

ros2 launch sigverse_hsr_teleop_key teleop_key_launch.xml

To start rviz, execute the following command.

ros2 launch sigverse_hsr_teleop_key teleop_key_rviz_launch.xml

Windows Side Startup Procedure

Start the [Assets/SIGVerse/ExampleScenes/HSR/HsrCleanup(.unity)] scene with reference to this page.

Run

You can control HSR by keyboard operation on the teleop_key.launch terminal.

This example is a task to grasp one of the objects on the desk and carry it somewhere.
When "1" is entered on the ROS side, task message is sent from Unity to ROS.
When "2" is entered on the ROS side, the human avatar will tell you what to grasp and where to carry it by pointing.

Please operate the robot to grasp and carry the target object.
If the cleanup task is successful, "Task Finished" is displayed.

• Check the terminal for details of the operation.

If you want to finish, stop the Unity side and then the ROS side.

Ubuntu side (teleop_key_rviz.launch)  (It might differ from the latest version)

Windows side  (It might differ from the latest version)

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Reference Video  (It might differ from the latest version)