start-jsk/rtmros_choreonoid

Name: rtmros_choreonoid

Owner: start-jsk

Description: using chreonoid for simulator with hrpsys and other ros system

Created: 2015-07-29 03:00:25.0

Updated: 2018-05-14 03:19:47.0

Pushed: 2018-05-14 03:19:45.0

Homepage: null

Size: 25595

Language: Common Lisp

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README

install choreonoid from source

compile choreonoid

do apt-get install libyaml-dev
port CNOID_INSTALL_DIR=/usr/local/choreonoid
port CNOID_RTM_DIR=${HOME}/ros/indigo_parent/devel
t clone https://github.com/s-nakaoka/choreonoid.git
dir -p choreonoid/build
 choreonoid/build
ot use python3, and not use pybind11 for backward compatibility
ake .. -DCMAKE_INSTALL_PREFIX=${CNOID_INSTALL_DIR} -DOPENRTM_DIR=${CNOID_RTM_DIR} -DENABLE_INSTALL_RPATH=ON -DENABLE_CORBA=ON -DBUILD_CORBA_PLUGIN=ON -DBUILD_OPENRTM_PLUGIN=ON -DBUILD_HELLO_WORLD_SAMPLE=ON -DBUILD_SPRING_MODEL_SAMPLE=ON -DUSE_PYTHON3=OFF -DUSE_PYBIND11=OFF
ke -j8
do make install

download source files

ol set --git rtm-ros-robotics/rtmros_choreonoid https://github.com/start-jsk/rtmros_choreonoid.git
ol update rtm-ros-robotics/rtmros_choreonoid

compile BodyRTC etc.

port CNOID_INSTALL_DIR=/usr/local/choreonoid
port PKG_CONFIG_PATH=${CNOID_INSTALL_DIR}/lib/pkgconfig:$PKG_CONFIG_PATH
scd hrpsys_choreonoid
tkin build --this

add PATH

rt PATH=${CNOID_INSTALL_DIR}/bin:$PATH

run test

• catkin build hrpsys_choreonoid_tutorials

• rtmlaunch hrpsys_choreonoid_tutorials jaxon_red_choreonoid.launch

See also hrpsys_choreonoid_tutorials/README.md

---

Control simulator via roseus

Get coordinates on simulation

d "package://hrpsys_choreonoid/scripts/choreonoid-service-client.l")
-coords-on-simulation :robot "JAXON_RED" :link "WAIST")

Apply external force to robot model using EusLisp

Assume hrpsys_choreonoid_tutorials/jaxon_red_choreonoid.launch is running,

d "package://hrpsys_choreonoid/scripts/choreonoid-service-client.l")
-external-force :pos #f(0 0 0) :force #f(0 100 0) :tm 0.1) ;;force is expressed in world frame

Tips

Move viewpoint in the simulation (Choreonoid?????????????????

Move cursor while pushing space key.

Use middle button with thinkpad keyborad

Write functions below on .bashrc

tion choreonoidinput () {
ut set-prop "TPPS/2 IBM TrackPoint" "Evdev Wheel Emulation" 0
ut set-prop "TPPS/2 IBM TrackPoint" "Evdev Wheel Emulation Button" 3
ut set-prop "TPPS/2 IBM TrackPoint" "Evdev Wheel Emulation" 1


tion defaultinput () {
ut set-prop "TPPS/2 IBM TrackPoint" "Evdev Wheel Emulation" 0
ut set-prop "TPPS/2 IBM TrackPoint" "Evdev Wheel Emulation Button" 2
ut set-prop "TPPS/2 IBM TrackPoint" "Evdev Wheel Emulation" 1

Type 'choreonoidinput' for changing role of buttons. Then middle button can work to translate views and right button can work to zoom views.

For returning to default input, type 'defaultinput' in any terminals.

---

for JVRC (Old information), this may work with 'last_working_jvrc' tag

do add-apt-repository ppa:hrg/daily
do apt-get update
do apt-get install choreonoid libcnoid-dev

• install choreonoid see http://jvrc.github.io/tutorials/html-ja/install.html#installation-of-choreonoid
  

• catkin build hrpsys_ros_bridge_jvrc and hrpsys_choreonoid

• roslaunch hrpsys_ros_bridge_jvrc jaxon_jvrc_choreonoid.launch TASK:=O1