euslisp/jskeus

Name: jskeus

Owner: euslisp

Description: This repository contains EusLisp software developed and used by JSK at The University of Tokyo

Created: 2014-03-03 07:35:55.0

Updated: 2018-01-03 19:29:52.0

Pushed: 2018-01-08 04:49:05.0

Homepage:

Size: 81549

Language: Common Lisp

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README

JSK EusLisp repository

This repository containts software devleoped and used by JSK at The University of Tokyo.

1. Getting started

1.1 Install binary (RECOMMENDED: Ubuntu 14.04)

1.1.1 Setup ROS repository

 sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
 http://packages.ros.org/ros.key -O - | sudo apt-key add -
 "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
 apt-get update

1.1.2 Install Euslisp

 apt-get install ros-indigo-euslisp

1.2 Install via Homebrew (OSX)

 install euslisp/jskeus/jskeus

2 Playing with Demo programs

2.1 Motion generation

teusgl irteus/demo/demo.l

and type any command, such as '(crank-motion)' or '(dual-arm-ik)'

2.2 Robots and objects models

teusgl models/irt-all-robots.l "(make-all-robots)"

teusgl models/irt-all-objects.l "(make-all-objects)"

3 Getting started for ROS and PR2 users

3.1 Install binaries (RECOMMENDED: Ubuntu 14.04)

3.1.1 Setup ROS repository

You can skip this procdeure if you already setup ROS system

 sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
 http://packages.ros.org/ros.key -O - | sudo apt-key add -
 "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
 apt-get update

3.1.2 Install pr2/euslisp programs

 apt-get install ros-indigo-pr2eus

3.3 Running demo programs

3.3.1 Visualizinot pr2 robot

srun euscollada pr2.sh

3.3.2 For real PR2 users

After you set ROS_MASTER_URI and ROS_IP to your PR2 robot (or simulated PR2), try following command

scd pr2eus
ead joint state and display in euslisp viewer, print jacobian
slaunch ./pr2-read-state.launch
ample program to show how to make pr2 posture from euslisp, THIS WILL MOVE REAL ROBOT, CAUTION!!!
slaunch ./pr2-send-joints.launch

You can use our script to set ROS_MASTER_URI and ROS_IP

urce `rospack find jsk_tools`/src/bashrc.ros
ssetrobot pr1012.jsk.com # change to your environment
ssetip

see roseus package in http://github.com/jsk-ros-pkg repository for ROS client library for euslisp

3.4 Support and Trouble Shooting

Use issue tracker for get support

Use pull requests to report bugs or patches.

3.5 Online Documents (Currently only Japanese is avilable)

See online manual

PDF files are also available from here

3.6 Install euslisp from source code (EXPERTS ONLY)

3.6.1 Installing dependent libraries

for Ubuntu users

do apt-get install git make gcc g++ libjpeg-dev libxext-dev libx11-dev libgl1-mesa-dev libglu1-mesa-dev libpq-dev libpng12-dev xfonts-100dpi xfonts-75dpi gsfonts-x11 texlive-fonts-extra xfonts-100dpi-transcoded xfonts-75dpi-transcoded msttcorefonts

for Mac OSX users using Homebrew

ew install jpeg libpng mesalib-glw wget

'''NOTE:''' EusLisp needs X11 Library, but Mac OSX mountain lion no longer support it. So you need to install substitution XQuartz.

Also for Mac OSX lion (or older) users it's better to install the latest XQuartz for the safety.

(If XQuartz is older than 2.7.3, the installation of EusLisp will fail. You should install the latest XQuartz.)

for Raspberry Pi users using debian(Raspbian “wheezy”)

do apt-get install git gcc g++ libjpeg62-dev libxext-dev libx11-dev libgl1-mesa-dev libglu1-mesa-dev libpq-dev libpng12-dev xfonts-100dpi xfonts-75dpi
dditional install for using OpenGL on raspberry pi
do apt-get install libgl1-mesa-dri xserver-xorg-video-vesa xutils

for Cygwin(now working with 32bit only)

ages listed below should be intalled using setup.exe.

 gcc-core, gcc-g++, make
peg-devel, libpng-devel
L-devel, libGLU-devel, libglut-devel, libX11-devel, libXext-devel
-server
art-menu-icons (for startxwin.exe)
-demo (for glxinfo)
ap fonts (all bitmap font packages -75dpi, -100dpi, -misc )

3.6.2 Downloading and building EusLisp

t clone http://github.com/euslisp/jskeus jskeus
 jskeus
ke
will see instructions to add EUSDIR, ARCHDIR, PATH, LD_LIBRARY_PATH environment variable in your bashrc to invoke euslisp program
ho "source ~/bashrc.eus" >> ~/.bashrc

3.6.3 Install ROS and jsk-ros-pkg repository

See http://wiki.ros.org/indigo/Installation/Source for more detail

do apt-get install python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential
dir -p ~/ros_catkin_ws/src
 ~/ros_catkin_ws/src
tool init src https://raw.githubusercontent.com/jsk-ros-pkg/jsk_pr2eus/master/.rosinstall
et https://raw.githubusercontent.com/jsk-ros-pkg/jsk_travis/master/rosdep-install.sh
 ./rosdep-install.sh
 ..
tkin_make
urce devel/setup.bash

3.7 Acknowledgment

The software in this repository is based on EusLisp language.