wip

ros2/remote_compute.md

@@ -1,70 +1,65 @@
-# Offload Compute to Remote Workstation
-Bla Bla Bla  
+# Using a Remote Workstation to Offload Heavy Compute
+In this tutorial, we will explore the method for offloading computationally intensive processes, such as running computer vision models, to a remote workstation computer. This approach offers several advantages such as:
+- Save processing power of the Robot.
+- Utilizing the available GPU hardware on powerful workstations to run large deep learning models.
+- Ability to strategically offload less critical high-computation process to enhance Robot's efficiency.
 
-#### Setting a ROS_DOMAIN_ID
+In this tutorial, we will delve into the intricate process of **offloading [Stretch Deep Perception](https://github.com/hello-robot/stretch_ros2/tree/humble/stretch_deep_perception) ROS2 nodes**. These nodes are known for their demanding computational requirements and are frequently used in [Stretch Demos](https://github.com/hello-robot/stretch_ros2/tree/humble/stretch_demos). 
 
-Bla Bla Bla
+*NOTE: All Stretch ROS2 packages are developed with Humble distro.*
 
-## Robot Side Nodes
+### Setting a ROS_DOMAIN_ID
 
-##### Start Stretch Driver Node
-Starts bla bla
-```
-ros2 launch stretch_core stretch_driver.launch.py
-```
+ROS2 utilizes [DDS](https://design.ros2.org/articles/ros_on_dds.html) as the default middleware for communication. **DDS enables nodes within the same physical network to seamlessly discover one another and establish communication, provided they share the same `ROS_DOMAIN_ID`**. This powerful mechanism ensures secure message passing between remote nodes as intended.
 
-##### Start Realsense Camera Stream Node
-Starts bla bla
-```
-ros2 launch stretch_core d435i_high_resolution.launch.py
+By default, all ROS 2 nodes are configured with domain ID 0. To avoid conflicts, select a domain ID from the range of 0 to 101, and then set this chosen domain ID as the value for the `ROS_DOMAIN_ID` environment variable in both the Workstation and the Robot.
+```{.bash .shell-prompt}
+export ROS_DOMAIN_ID=<ID>
 ```
 
-##### Start RP Lidar Node
-Starts bla bla
-```
-ros2 launch stretch_core rplidar.launch.py
-```
+## Setup the Workstation to work with Stretch
+The workstation needs to be installed with the appropriate stretch related ros2 packages to have access Stretch robot meshes for accurate Visualization in Rviz,interfaces dependencies and essential perception packages.
 
+This section assumes the workstation already has an active ROS2 distro and colcon dependencies pre-installed.
+You can find [ROS2 Installation step for Ubuntu here](https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Install-Binary.html#).
 
-## Workstation Side Node
 
-##### Start 'Detect Nearest Mouth' Computer Vision Node
-Starts Bla Bla
-```
-ros2 launch stretch_deep_perception stretch_detect_nearest_mouth.launch.py
-```
+##### Setup Essential stretch_ros2 Packages 
 
-##### Start Funmap Planner
-Starts Bla Bla
-```
-ros2 launch stretch_funmap funmap.launch.py
+Make sure the ROS2 distro is sourced.
+```{.bash .shell-prompt}
+source /opt/ros/humble/setup.bash
 ```
 
-##### Visualization from Rviz
-```
+Create workspace directory and clone stretch_ros2 packages along with it's dependency packages to `src` folder.
+```{.bash .shell-prompt}
+mkdir -p ~/ament_ws/src
+cd ~/ament_ws/src/
+git clone https://github.com/hello-robot/stretch_ros2
+git clone https://github.com/hello-binit/ros2_numpy -b humble
+git clone https://github.com/IntelRealSense/realsense-ros.git -b ros2-development
+git clone https://github.com/Slamtec/sllidar_ros2.git -b main
+git clone https://github.com/hello-binit/respeaker_ros2.git -b humble
+git clone https://github.com/hello-binit/audio_common.git -b humble
 ```
 
-### Workstation Setup to work with Stretch
-
-This assumes the workstation side already has an active ROS2 distro (preferably Humble) colcon dependencies installed.
-You can find [ROS2 Installation step for Ubuntu here](https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Install-Binary.html#).
-
-###### Setup Stretch ROS2 Packages on Workstation
-
-```
-source /opt/ros/humble/setup.bash
-source /usr/share/colcon_cd/function/colcon_cd.sh
-mkdir -p ament_ws/src
-cd ament_ws/src/
-git clone https://github.com/hello-robot/stretch_ros2
-cd ..
+Build and install all the packages present in source folder. 
+```{.bash .shell-prompt}
+cd ~/ament_ws
 rosdep install --rosdistro=humble -iyr --skip-keys="librealsense2" --from-paths src
 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
-source ~/ament_ws/install/setup.bash
-sudo apt install ros-humble-realsense2-description
 ```
 
+Make sure to source the workspace to discover the packages in it.
+```{.bash .shell-prompt}
+source ~/ament_ws/install/setup.bash
 ```
+
+##### Setup Robot URDF and Meshes
+All the robots are shipped with an calibrated URDF files configured with robot version specific meshes that would more accurately match the actual robot you are using. So we recommend you to **copy the `stretch_description` directory that exists in your robot and replace it with the one existing in the workstation**. The Stretch Description directory exists in the path `~/ament_ws/src/stretch_ros2/stretch_description`.
+
+If you dont want use the URDFs from the robot, you can manually generate the right URDF w.r.t your robot configuration using the following commands:
+```{.bash .shell-prompt}
 cd ~/ament_ws/src/stretch_ros2/stretch_description/urdf/
 
 #if Dex-Wrist Installed
@@ -75,12 +70,16 @@ cp stretch_description_standard.xacro stretch_description.xacro
 
 ros2 run stretch_calibration update_uncalibrated_urdf
 cp stretch_uncalibrated.urdf stretch.urdf
+```
 
+After setting up the 
+```
 cd ~/ament_ws
 colcon build
 ```
 
-```
+##### Download Stretch Deep Perception Models
+```{.bash .shell-prompt}
 cd ~/ 
 git clone https://github.com/hello-robot/stretch_deep_perception_models
 ```
@@ -88,5 +87,48 @@ TODO: [Parameterize models_directory](https://github.com/hello-robot/stretch_ros
 
 
 
+## Robot Side Nodes
+
+##### Start Stretch Driver Node
+Starts bla bla
+```{.bash .shell-prompt}
+ros2 launch stretch_core stretch_driver.launch.py
+```
+
+##### Start Realsense Camera Stream Node
+Starts bla bla
+```{.bash .shell-prompt}
+ros2 launch stretch_core d435i_high_resolution.launch.py
+```
+
+##### Start RP Lidar Node
+Starts bla bla
+```
+ros2 launch stretch_core rplidar.launch.py
+```
+
+
+## Workstation Side Node
+
+##### Start 'Detect Nearest Mouth' Computer Vision Node
+Starts Bla Bla
+```{.bash .shell-prompt}
+ros2 launch stretch_deep_perception stretch_detect_nearest_mouth.launch.py
+```
+
+##### Start Funmap Planner
+Starts Bla Bla
+```{.bash .shell-prompt}
+ros2 launch stretch_funmap funmap.launch.py
+```
+
+##### Visualization from Rviz
+```
+```
+
+
+
+
+