Dataset Preparation - Prerequisites

This section describes the necessary setup steps before starting data preparation.

INFO

When executing terminal commands in this document, refer to the indicators below to run them on the correct PC or Docker container

USER PC: Your PC with the camera connected, used for dataset collection with Physical AI Tools
🐋 OPEN MANIPULATOR: Open Manipulator Docker container
🐋 PHYSICAL AI TOOLS: Physical AI Tools Docker container

Launch the Camera Node

Navigate to open_manipulator/docker directory and enter the Docker container:

USER PC

bash

cd open_manipulator/docker

bash

./container.sh enter

USER PC 🐋 OPEN MANIPULATOR

Then, launch the wrist USB camera node:

bash

ros2 launch open_manipulator_bringup camera_usb_cam.launch.py

Alternatively, you can customize the camera topic namespace and video device (serial). By default, name=camera1 and video_device=/dev/video0.

bash

ros2 launch open_manipulator_bringup camera_usb_cam.launch.py name:=camera1 video_device:=/dev/video0

Navigate to physical_ai_tools/docker directory and enter the Docker Container:

USER PC

bash

cd physical_ai_tools/docker

bash

./container.sh enter

Launch Physical AI Server with the following command:

USER PC 🐋 PHYSICAL AI TOOLS

bash

ros2 launch physical_ai_server physical_ai_server_bringup.launch.py

Or, use shortcut command:

bash

ai_server

Navigate to open_manipulator/docker directory and enter the Docker container:

USER PC

bash

cd open_manipulator/docker

bash

./container.sh enter

Then, launch the ROS 2 teleoperation node with the following command:

WARNING

Executing the code will cause OMX to move immediately. Please stay clear and be cautious.

USER PC 🐋 OPEN MANIPULATOR

bash

ros2 launch open_manipulator_bringup omx_ai.launch.py