/rtmros_choreonoid

using chreonoid for simulator with hrpsys and other ros system

Primary LanguageCommon Lisp

install choreonoid from source

compile choreonoid

$ sudo apt-get install libyaml-dev
$ export CNOID_INSTALL_DIR=/usr/local/choreonoid
$ export CNOID_RTM_DIR=/opt/ros/${ROS_DISTRO}
## for source install# 
## $ export CNOID_RTM_DIR=${HOME}/ros/indigo_parent/devel
$ git clone https://github.com/s-nakaoka/choreonoid.git
$ cd choreonoid; git checkout release-1.6
## git checkout -b tip_with_jsk a4743cc72cf2febbec5e27d923f455d4b24fcb44
$ mkdir -p build
$ cd build
## not use python3, and not use pybind11 for backward compatibility
$ cmake .. -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 -DUSE_BUILTIN_CAMERA_IMAGE_IDL=ON
$ make -j8
$ sudo make install

download source files

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

compile BodyRTC etc.

$ export CNOID_INSTALL_DIR=/usr/local/choreonoid
$ export PKG_CONFIG_PATH=${CNOID_INSTALL_DIR}/lib/pkgconfig:$PKG_CONFIG_PATH
$ roscd hrpsys_choreonoid
$ catkin build --this

add PATH

export 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

(load "package://hrpsys_choreonoid/scripts/choreonoid-service-client.l")
(get-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,

(load "package://hrpsys_choreonoid/scripts/choreonoid-service-client.l")
(add-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シミュレータ内での視点の移動方法）

Move cursor while pushing space key.

Use middle button with thinkpad keyborad

Write functions below on .bashrc

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

function defaultinput () {
xinput set-prop "TPPS/2 IBM TrackPoint" "Evdev Wheel Emulation" 0
xinput set-prop "TPPS/2 IBM TrackPoint" "Evdev Wheel Emulation Button" 2
xinput 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

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