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
• ROBOT PC: The embedded SBC (Raspberry Pi) inside the OMY robot
• 🐋 OPEN MANIPULATOR: Open Manipulator Docker container
• 🐋 PHYSICAL AI TOOLS: Physical AI Tools Docker container

Setup Open Manipulator Docker Container

WARNING

If the Open Manipulator Docker container is already set up, you can skip this step.

1. Start the Docker Container:

Clone the repository:

USER PC

git clone https://github.com/ROBOTIS-GIT/open_manipulator

Start the container with the following command:

cd open_manipulator/docker && ./container.sh start

2. Setup ROS Domain ID

Set a consistent ROS_DOMAIN_ID across terminals to enable ROS 2 node communication.

Enter the Open Manipulator Docker container:

USER PC

./container.sh enter

USER PC 🐋 OPEN MANIPULATOR

echo 'export ROS_DOMAIN_ID=30' >> ~/.bashrc
source ~/.bashrc

Setup Physical AI Tools Docker Container

WARNING

If the Physical AI Tools Docker container is already set up, you can skip this step.

1. Start the Docker Container:

Clone the repository along with all required submodules:

USER PC

git clone --recurse-submodules https://github.com/ROBOTIS-GIT/physical_ai_tools.git

Start the Physical AI Tools Docker container with the following command:

cd physical_ai_tools/docker && ./container.sh start

2. Build the Physical AI Server

Enter the docker container:

USER PC

./container.sh enter

Build the Physical AI Server with the following command:

USER PC 🐋 PHYSICAL AI TOOLS

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

Launch the Camera Node

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

USER PC

cd open_manipulator/docker

./container.sh enter

Launch the Camera Node:

USER PC 🐋 OPEN MANIPULATOR

ros2 launch realsense2_camera rs_launch.py camera_name:='cam_wrist'

You can also use other camera models such as ZED2 or USB cameras, if needed.

Launch the Physical AI Server

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

USER PC

cd physical_ai_tools/docker

./container.sh enter

Launch Physical AI Server with the following command:

USER PC 🐋 PHYSICAL AI TOOLS

ros2 launch physical_ai_server physical_ai_server_bringup.launch.py

Or, use shortcut command:

ai_server

Launch the ROS 2 Teleoperation Node

1. Access the Robot PC

Access the Robot PC either directly or via SSH. For SSH connection instructions, refer to the SSH connection.

2. Launch the ROS 2 Teleoperation Node

Enter the Docker Container

ROBOT PC

cd /data/docker/open_manipulator/docker && ./container.sh enter

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

WARNING

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

ROBOT PC 🐋 OPEN MANIPULATOR

ros2 launch open_manipulator_bringup omy_ai.launch.py