Tutorials for rtmros packages

Please refer rtmros_common for installing these packages.

If you use closed models, you have to compile hrpsys_ros_bridge_tutorials after you download jsk_models or hrp2_models. If you compiled hrpsys_ros_bridge_tutorials before you download jsk_models or hrp2_models, you have to compile hrpsys_ros_bridge_tutorials again with --force-cmake option after you download jsk_models or hrp2_models.

NOTE If you use melodic distribution, you have to compile hrpsys_ros_bridge_tutorials after you install ros-melodic-collada-urdf-jsk-patch, which is automatically installed with rosdep install for hrpsys_ros_bridge_tutorials.

Open Terminal and run gazebo

roslaunch hrpsys_gazebo_tutorials gazebo_samplerobot_no_controllers.launch #kinetic or melodic
roslaunch hrpsys_gazebo_tutorials gazebo_samplerobot_no_controllers_indigo.launch #indigo

Launch another terminal and start hrpsys-base

rtmlaunch hrpsys_gazebo_tutorials samplerobot_hrpsys_bringup.launch

Launch another terminal and send command to robot by roseus

roscd hrpsys_ros_bridge_tutorials/euslisp/
roseus samplerobot-interface.l
(samplerobot-init)
(send *ri* :angle-vector (send *sr* :reset-pose) 1000)
(send *ri* :start-auto-balancer)
(send *ri* :start-st)
(send *ri* :go-pos 0 0 0)

rtmros_hrp2(private) is needed. Open Terminal and run gazebo

roslaunch hrpsys_gazebo_tutorials gazebo_hrp2jsknt_no_controllers.launch #kinetic or melodic
roslaunch hrpsys_gazebo_tutorials gazebo_hrp2jsknt_no_controllers_indigo.launch #indigo

Launch another terminal and start hrpsys-base

rtmlaunch hrpsys_gazebo_tutorials hrp2jsknt_hrpsys_bringup.launch

Launch another terminal and send command to robot by roseus

roscd hrpsys_ros_bridge_tutorials/euslisp/
roseus hrp2jsknt-interface.l
(hrp2jsknt-init)
(send *ri* :angle-vector (send *hrp2jsknt* :reset-pose) 1000)
(send *ri* :start-auto-balancer)
(send *ri* :start-st)
(send *ri* :go-pos 0 0 0)

This is examples and tutorials for rtmros_common/hrpsys_ros_bridge.

Euslisp tutorial wiki is written in ROS wiki.

• You should prepare robot model file (no additional operation is required for SampleRobot, downloading hrp2_models(private) is required for HRP2). Supported types of model file are collada(openrave) and VRML(openhrp3). URDF and OpenRAVE xml can be used by converting to collada.
  • <robot_name>.yaml for configurating URDF setting, gazebo setting and euslisp setting
  • (automatically generated) <robot_name>.urdf under models directory
  • (automatically generated) hrpsys settings (you should have a collada or VRML robot model file)

This package is a collection of examples for using hrpsys_gazebo system and utility scripts. Please see README in that package for further information.