WEBVTT 00:00.080 --> 00:01.430 Hi robotic enthusiasts. 00:01.610 --> 00:07.910 In this lesson, we will finally put together all the pieces of our robot and see in this simulation 00:07.940 --> 00:13.250 how they interact with each other, coordinated and interconnected by Ros2. 00:13.970 --> 00:20.090 This is also the last lesson in which we are going to add functionalities to our robot, as the focus 00:20.090 --> 00:26.120 in the next section will be on making all these functionalities compatible with the real robot. 00:26.720 --> 00:32.300 To start all the robot's functionalities, let's create one last package inside our workspace. 00:32.300 --> 00:43.040 So inside the source folder here, let's create the package with the Ros2 package create and let's use 00:43.580 --> 00:47.810 as a build type arm and CMake. 00:47.840 --> 00:54.770 As we are not going to insert any Python or Cplusplus file in this package, but we just want to develop 00:54.770 --> 01:01.780 some launch files and let's call this package Arduino bot bring up. 01:01.780 --> 01:03.580 So let's press enter. 01:03.580 --> 01:06.190 And this created our new last package. 01:06.190 --> 01:08.440 So the Arduino bot bring up package. 01:08.590 --> 01:16.960 Now back in the workspace let's run docker build command so that the Arduino bot bring up packages recognized 01:16.960 --> 01:18.160 and compiled. 01:18.820 --> 01:20.710 Now back in Visual Studio Code. 01:20.860 --> 01:22.090 Close the terminal. 01:22.120 --> 01:25.180 Back in Visual Studio Code in the Arduino bot bring up. 01:25.180 --> 01:28.030 Let's start by creating a new launch file. 01:28.030 --> 01:32.500 So by convention let's insert this one in the launch folder. 01:32.500 --> 01:42.430 And within this folder let's create a new file called simulated robot dot launch dot pi. 01:43.150 --> 01:49.690 In this one, since this is a ros2 launch file, let's start by importing the launch description class. 01:49.690 --> 01:55.660 So from the launch library let's import the launch description. 01:55.660 --> 02:07.160 Then let's define The generate launch description function, which returns an object of type launch 02:07.160 --> 02:11.780 description, and the constructor of this class requires as input a list. 02:11.780 --> 02:15.830 So the list of the functionalities that this launch file is going to start. 02:16.610 --> 02:20.120 The object of this launch file is to declare all the applications. 02:20.120 --> 02:23.390 So all the functionalities that we want to be started. 02:23.390 --> 02:26.330 And so all the functionalities for the simulated robot. 02:26.420 --> 02:28.610 So let's start by launching gazebo. 02:29.870 --> 02:34.070 And we have already inserted and launched all the simulation component. 02:34.100 --> 02:35.630 In another launch file. 02:35.630 --> 02:40.790 So basically we want to start this one here the gazebo dot launch. 02:40.910 --> 02:44.270 And so in order to start another launch file. 02:44.270 --> 02:50.390 So this one from this launch file from the simulated robot we need to import another library. 02:50.420 --> 02:59.920 So from launch Actions we need to Import the include launch description. 02:59.920 --> 03:02.410 And so let's use this one to launch gazebo. 03:02.410 --> 03:07.600 So let's create a new instance of this class of the include launch description. 03:07.750 --> 03:19.210 And also let's import from the amend index Python from the packages module. 03:19.330 --> 03:23.230 Let's import the get package share directory. 03:23.230 --> 03:29.980 And let's use it within this one to get the directory to the package which contains the launch file 03:29.980 --> 03:31.300 that we want to start. 03:31.300 --> 03:35.800 So we want to start the gazebo dot launch which is in the Arduino bot description. 03:40.030 --> 03:43.630 Then within this package we want to access to the launch folder. 03:43.630 --> 03:52.180 So let's import the OS library of Python in order to access to our file system. 03:52.180 --> 03:58.970 And so now let's use here the function OS but join. 03:58.970 --> 04:04.100 So let's copy this one and let's move it here. 04:05.240 --> 04:09.500 And so we want to access to the Arduino bot description package. 04:09.530 --> 04:13.130 So this returns the directory of the Arduino bot description package. 04:13.130 --> 04:17.630 Within this one we want to access to the launch folder. 04:17.630 --> 04:25.280 And from this one we want to start the file that is called gazebo dot launch dot pi. 04:25.880 --> 04:34.220 After the simulation we want also to start the controller of our robot, and also for this one, there 04:34.220 --> 04:37.970 is already a launch file ready that we have already created. 04:37.970 --> 04:41.060 And is this one the controller dot launch. 04:41.060 --> 04:44.420 So basically we can copy this the same instructions. 04:44.420 --> 04:50.780 We can paste it here and let's format it like this. 04:51.140 --> 04:52.280 The controller. 04:52.280 --> 04:53.890 So the controller launch. 04:53.890 --> 05:04.810 Pi is in the Arduino board controller package and the file is called Controller Launch dot Pi. 05:04.840 --> 05:07.930 To this launch file we can pass also some arguments. 05:07.990 --> 05:11.800 So here let's pass some launch arguments. 05:12.160 --> 05:13.840 And let's pass a dictionary. 05:13.840 --> 05:17.350 And let's set the argument is the theme of the launch file. 05:17.350 --> 05:26.650 So is seem to be true since we want to start the control system of the robot for the simulated robot. 05:26.770 --> 05:29.950 And let's take the items of this dictionary. 05:30.280 --> 05:32.170 Then we also need to start move it. 05:32.890 --> 05:34.390 So let's start. 05:34.420 --> 05:35.470 Move it. 05:35.530 --> 05:38.950 And again let's copy these lines here. 05:38.950 --> 05:45.100 Since also the move it launch file is already created and is in the Arduino bot move it package. 05:45.100 --> 05:49.060 So let's change the name of the package to be Arduino Bot. 05:49.090 --> 05:52.890 Move it and the launch file is the move it dot dot pi. 05:52.920 --> 05:56.400 So move it dot launch dot pi. 05:57.030 --> 06:01.380 And also in this case let's set the argument is a seem to be true. 06:02.190 --> 06:05.400 Finally we only need to start one last component. 06:05.400 --> 06:09.390 So one last functionality which is the remote interface. 06:11.640 --> 06:18.000 And this is in charge of communicating with the Amazon Alexa assistant and also with the move it to 06:18.030 --> 06:18.930 APIs. 06:19.140 --> 06:22.980 So let's use another include launch description. 06:23.580 --> 06:29.580 So let's copy it and paste since also for the Arduino bot remote, in order to start all the functionalities, 06:29.580 --> 06:31.590 we created this launch file here. 06:31.590 --> 06:33.870 So the remote interface dot launch. 06:34.380 --> 06:43.710 So this is in the Arduino bot remote package in the launch folder and is called remote. 06:47.070 --> 06:48.840 Interface dot launch. 06:48.840 --> 06:55.300 And in this case we don't need to provide any launch argument with this. 06:55.330 --> 06:57.910 We have declared and initialized all the components. 06:57.910 --> 07:00.670 So all the application that this launch file. 07:00.670 --> 07:04.930 So the simulated robot launch must start. 07:04.960 --> 07:11.080 Now we just need to add them here within the launch description in order to actually execute them when 07:11.080 --> 07:12.550 we execute the launch file. 07:12.580 --> 07:22.720 So let's start with the gazebo, then the controller, then move it, and finally the remote interface. 07:22.990 --> 07:24.250 Let's save. 07:24.280 --> 07:29.590 And with this launch file we have started all the functionalities of the robot that we have developed 07:29.590 --> 07:31.240 so far during the course. 07:31.960 --> 07:35.020 For now, we only started them for the simulated robot. 07:35.020 --> 07:38.080 That's why this is called simulated Robot Launch. 07:38.080 --> 07:43.210 And in the next section of the course we are going to make all these functionalities compatible also 07:43.240 --> 07:44.470 with the real robot. 07:44.470 --> 07:51.540 So with the real manipulator you can use also this launch file as a starting point for your future experiments. 07:51.540 --> 07:57.120 And so you can just add here all the new nodes and all the new launch files that implements the new 07:57.120 --> 08:02.220 functionalities that you have developed for your robot before executing it. 08:02.220 --> 08:06.840 So before launching this file, let's remember to install it. 08:06.840 --> 08:09.270 So back in the CMake list. 08:09.300 --> 08:20.700 So here we need to add an install statement in order to install the directory launch. 08:20.700 --> 08:24.930 So the one that we have just created and the destination. 08:24.930 --> 08:29.700 So the destination in which we want to install this folder is the shared directory. 08:29.700 --> 08:32.580 And then the subfolder that has the same name of the package. 08:32.580 --> 08:39.900 So Arduino bot bring up and we can access with the variable project name. 08:40.140 --> 08:41.970 Now let's save this file. 08:41.970 --> 08:46.590 Let's also remember to add the dependency from the Ros2 launch. 08:46.590 --> 08:53.330 So let's add a dependency from the Ros2 launch within the package dot XML. 08:53.330 --> 08:59.330 Since we created our launch file, and now we are ready to start and to see the result of our work. 08:59.330 --> 09:02.690 So the outcome of what we have learned throughout the course. 09:02.720 --> 09:05.630 So let's open a new terminal here. 09:05.630 --> 09:09.590 Let's go to the workspace and let's start by building it. 09:09.590 --> 09:13.790 So we are compiling the Arduino board bring up package. 09:13.790 --> 09:16.160 And so the new launch file that we have created. 09:16.190 --> 09:22.820 Now if we open a new window of the terminal and here we source the file setup dot bash. 09:23.720 --> 09:27.500 So this one here we can start all the functionalities of the robot. 09:27.500 --> 09:35.690 So all the software that we have developed in this course with just one command that is Ros2 launch. 09:36.110 --> 09:38.840 And from the Arduino board bring up package. 09:38.840 --> 09:43.160 Let's start all the functionalities of the robot in the simulated environment. 09:43.160 --> 09:46.890 So by using the simulated robot dot launch dot pi. 09:46.920 --> 09:48.630 So let's press enter. 09:48.630 --> 09:50.100 And this command is starting. 09:50.130 --> 09:53.370 Now the simulation of our robot in gazebo. 09:53.400 --> 09:56.010 It is also starting the control system of the robot. 09:56.010 --> 10:00.810 And also as we can see here, it is starting also our RV's with move it. 10:00.810 --> 10:06.240 And so we can interact with our robot using the RVs graphical user interface. 10:06.240 --> 10:07.680 So this one here. 10:07.710 --> 10:12.510 Now however we are not going to use it, but we are just going to use Alexa. 10:12.510 --> 10:15.840 So the voice assistant in order to send commands. 10:15.840 --> 10:18.180 So to send the tasks to our robot. 10:18.180 --> 10:22.830 And so to move it into a peak position and also into a rest position. 10:22.830 --> 10:26.100 In order to do so we need to start Ngrok. 10:26.100 --> 10:32.220 So we need to start the web server that actually runs on our PC, and that we are going to use in order 10:32.220 --> 10:35.250 to connect with the Alexa interface. 10:35.340 --> 10:41.730 To do so, let's go to the downloads folder in which we have downloaded Ngrok, and then let's use the 10:41.730 --> 10:50.840 command ng rock and let's open an HTTP server on the port 5000. 10:50.870 --> 10:51.620 Perfect. 10:51.650 --> 10:54.890 Now we have a new address that is this one here. 10:54.890 --> 10:56.750 So now we can copy it. 10:58.070 --> 10:59.660 So let's copy it. 10:59.660 --> 11:02.450 And now this is the address that we need to set. 11:02.450 --> 11:07.340 So this is the address that we need to copy in the Alexa developer console. 11:07.340 --> 11:08.540 So let's open it. 11:08.570 --> 11:09.590 Here we go. 11:09.620 --> 11:11.930 This is the Alexa developer console. 11:11.930 --> 11:14.540 Let's set this one on one side. 11:14.540 --> 11:20.360 And let's set gatsibo on the other side so that we can see that when we will send commands using the 11:20.360 --> 11:23.390 Alexa interface, we will see our robot moving. 11:23.390 --> 11:28.490 So here the first thing that we need to do is to go to the endpoint section here. 11:28.490 --> 11:34.580 And we need to change here the endpoint to the new one that was provided by Ngrok. 11:34.610 --> 11:36.320 Let's save it. 11:36.980 --> 11:37.730 Perfect. 11:37.730 --> 11:40.280 And now we can go testing our model. 11:40.280 --> 11:44.400 So we can go testing our interaction model with the robot. 11:44.430 --> 11:48.480 So here we can start interacting with Alexa voice assistant. 11:48.480 --> 11:50.940 And for example we can also write commands. 11:51.330 --> 11:56.940 So let's use the invocation name that is wake up Arduino bot. 11:58.110 --> 11:58.620 Hi. 11:58.620 --> 11:59.640 How can we help. 11:59.640 --> 12:02.400 And this is the response that we were expecting. 12:02.400 --> 12:06.810 And we can see that the robot is opening its gripper to welcoming us. 12:06.900 --> 12:12.180 And now we can say, for example, pick that pen. 12:14.100 --> 12:21.360 Okay, I'm moving and we can see that the robot is going picking some invisible object in the gazebo 12:21.360 --> 12:22.020 simulation. 12:22.020 --> 12:23.970 And also the gripper is closing. 12:23.970 --> 12:30.090 And so now we have the confirmation that all this task that we have developed in this course is perfectly 12:30.090 --> 12:34.110 working from the Alexa interface to our robot. 12:34.110 --> 12:40.920 So the robot simulation and also the move it and the move it APIs that are making all of this possible.