Using this package

Installation

Docker

If using Ubuntu, you may skip this step. All other distributions must create a Docker environment. This container includes ROS2 Humble.

docker run -it --net=host --device /dev/dri/ -e DISPLAY=$DISPLAY -v $HOME/.Xauthority:/root/.Xauthority:ro osrf/ros:humble-desktop

After the docker environment has downloaded, update the system and download the UR robot drivers:

apt update -y && apt upgrade -y
apt install python3-venv -y
apt install ros-$ROS_DISTRO-ur -y
cd ~
source /opt/ros/humble/setup.bash

Installing dependencies

1. Install support packages for the pruning environment.

cd ~
git clone https://github.com/lukestroh/branch_detection_ws.git
cd branch_detection_ws
colcon build --symlink-install
source install/setup.bash
cd ~

Installing this package

1. Clone this repository into your local directory:

git clone https://github.com/OSUrobotics/pybullet-tree-sim.git

2. Create a virtual environment. Python's venv is encouraged:

cd pybullet-tree-sim
python3 -m venv venv
source venv/bin/activate

3. Install using pip:

python3 -m pip install --upgrade pip
pip install .

4. Download the required mesh files from Zenodo If successfully installed, a CLI arg mesh_downloader should now be active in your environment.

mesh_downloader

This command will extract the zip file for you. It is a large file and will take several minutes.

Adding trees

All trees should be defined by their origin namespace, the tree type, and the tree id. Tree ids should be zero-padded by 5 spaces.

# Pattern:
{tree_namespace}_{tree_type}_{tree_id}

# Examples:
LPy_envy_00027
prosser_ufo_00762

Trees should include a generic mesh and and a labeled mesh. LPy trees can be generated by TODO: TALK TO ABHINAV and added to the Zenodo storage.