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Installation Instruction

Table of Contents

Clone the repo

git clone --recurse-submodules https://github.com/JohnsonLabJanelia/FetchGamePhysics.git

Prepare ROS environment

The repo is tested with ROS NOETIC on Ubuntu 20.04. We are planning on release a docker image for the game in the future. But for development purpose, it is better to have a local ros workspace. Adapted from Option B: Manual Setup.

  1. Install Noetic Desktop-Full Install on Ubuntu, and create a ROS catkin workspace.
  2. Install libraries
sudo apt-get install python3-pip ros-noetic-robot-state-publisher ros-noetic-moveit ros-noetic-rosbridge-suite ros-noetic-joy ros-noetic-ros-control ros-noetic-ros-controllers
sudo -H pip3 install rospkg jsonpickle
  1. Copy folders in FetchGamePhysics/ROS/src/* into catkin workspace.
  2. Built and sourced the ROS workspace, catkin_make && source devel/setup.bash.

Prepare Unity

  1. Open the FetchArenaProject in Unity. The SampleScene with robot should automatically load. If you want to know how the scene is assembled, please check Setting up the Unity Scene. Digital Twin

  2. Check if you have correct packages installed.

Package Manager

The game uses The Universal Render Pipeline, and new physics solver Temporal Gauss Seidel.