Naoki-Hiraoka/pr2_choreonoid

CMake

install

Install dependency

git clone https://github.com/s-nakaoka/choreonoid --branch release-1.7
./choreonoid/misc/script/install-requisites-ubuntu-16.04.sh
patch -p1 -d choreonoid < [path to pr2_choreonoid]/choreonoid.patch
git clone https://github.com/Naoki-Hiraoka/choreonoid_rosplugin --branch pr2
https://github.com/Naoki-Hiraoka/jsk_pr2eus --branch namespace
catkin build choreonoid choreonoid_rosplugin pr2eus

Build pr2_choreonoid

catkin build pr2_choreonoid

Generate pr2.wrl First, install simtrans (see https://github.com/fkanehiro/simtrans). Then,

mkdir `rospack find pr2_choreonoid`/wrl
rosrun xacro xacro.py `rospack find pr2_description`/robots/pr2.urdf.xacro > /tmp/pr2.urdf
simtrans -i /tmp/pr2.urdf -o `rospack find pr2_choreonoid`/wrl/pr2.wrl --use-both
FNAME=`rospack find pr2_choreonoid`/wrl/pr2.wrl bash `rospack find pr2_choreonoid`/add-rotorinertia.sh

Run simulation

roslaunch pr2_choreonoid pr2_choreonoid.launch

roscd pr2eus
roseus ./pr2-interface.l
(setq *ri* (instance pr2-interface :init :namespace "PR2")) 
(setq *robot* (pr2))
(send *ri* :angle-vector (send *robot* :reset-manip-pose)) 
(do-until-key (send *ri* :send-cmd-vel-raw 1 0 0))