From bbbd44026340333ba3d874a64b7a5db31370a2ff Mon Sep 17 00:00:00 2001 From: Naoki-Hiraoka Date: Mon, 13 Apr 2020 16:23:42 +0900 Subject: [PATCH 1/5] fix readme.md --- README.md | 49 +++++++++++++++++++++++-------------------------- 1 file changed, 23 insertions(+), 26 deletions(-) diff --git a/README.md b/README.md index ed095f7d..ff154a9c 100644 --- a/README.md +++ b/README.md @@ -4,30 +4,12 @@ rtmros_tutorials [![Build Status](https://travis-ci.org/start-jsk/rtmros_tutori Tutorials for rtmros packages ### Install -``` -# download source -mkdir -p ~/ros/ws_rtmros_tutorials/src -cd ~/ros/ws_rtmros_tutorials/src -wstool init -wstool set rtm-ros-robotics/rtmros_tutorials https://github.com/start-jsk/rtmros_tutorials.git --git -y -wstool update -source /opt/ros/hydro/setup.bash -# install depend package -sudo apt-get install python-rosdep -sudo rosdep init -rosdep update -cd ~/ros/ws_rtmros_tutorials/src/rtm-ros-robotics/rtmros_tutorials -curl -sSl https://raw.githubusercontent.com/jsk-ros-pkg/jsk_travis/master/rosdep-install.sh | bash -# compile -cd ~/ros/ws_rtmros_tutorials/ -catkin_make --only-pkg-with-deps hrpsys_gazebo_tutorials -source ~/ros/ws_rtmros_tutorials/devel/setup.bash # this line is necessary for bug, need to be fixed. -catkin_make --only-pkg-with-deps hrpsys_gazebo_tutorials --force-cmake # this line is necessary for bug, need to be fixed. -catkin_make --only-pkg-with-deps hrpsys_gazebo_tutorials --force-cmake # this line is necessary for bug, need to be fixed. -# add setting -echo "source ~/ros/ws_rtmros_tutorials/devel/setup.bash" >> ~/.bashrc -echo "source \`rospack find hrpsys_gazebo_tutorials\`/setup.sh" >> ~/.bashrc -``` + +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`. ### Try Sample Open Terminal and run gazebo @@ -51,9 +33,24 @@ roseus hrp2jsknt-interface.l ### Package Description -hrpsys_ros_bridge_tutorialsls +### [hrpsys_ros_bridge_tutorials] -------------- -This is examples and tutorials for [rtmros_common/hrpsys_ros_bridge](https://github.com/start-jsk/rtmros_common). +This is examples and tutorials for [rtmros_common/hrpsys_ros_bridge](https://github.com/start-jsk/rtmros_common). Euslisp tutorial wiki is written in [ROS wiki](http://wiki.ros.org/rtmros_common/Tutorials/WorkingWithEusLisp). +### [hrpsys_gazebo_tutorials] + +This package is a collection of examples for using hrpsys_gazebo system and utility scripts. + +- You should prepare robot model file. 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 gazebo setting and hrpsys setting + - (automatically generated) *<robot_name>*.urdf under robot_models/*<robot_name>* directory + - (automatically generated) hrpsys settings (you should have a collada or VRML robot model file) + - *<robot_name>*_optional_urdf_setting.sh under robot_models/*<robot_name>* directory, this is for adding description used by gazebo (such as sensor settings, collision and friction setting) + +#### (automatically generated files) + +You can use robot_models/install_robot_common.sh for installing urdf model file. This scripts converts collada file in [hrpsys_ros_bridge_tutorials]/models directory to urdf file. + + ./install_robot_common.sh ROBOT_NAME (model directory) (output directory) (collada_to_urdf_binary) (additional_ros_package_path) From de4851977eb83f0fc96734615969d0738f7efb6a Mon Sep 17 00:00:00 2001 From: Naoki-Hiraoka Date: Tue, 14 Apr 2020 10:23:24 +0900 Subject: [PATCH 2/5] fix README.md --- README.md | 18 ++++++++---------- 1 file changed, 8 insertions(+), 10 deletions(-) diff --git a/README.md b/README.md index ff154a9c..52f36fbc 100644 --- a/README.md +++ b/README.md @@ -39,18 +39,16 @@ This is examples and tutorials for [rtmros_common/hrpsys_ros_bridge](https://git Euslisp tutorial wiki is written in [ROS wiki](http://wiki.ros.org/rtmros_common/Tutorials/WorkingWithEusLisp). -### [hrpsys_gazebo_tutorials] - -This package is a collection of examples for using hrpsys_gazebo system and utility scripts. - - You should prepare robot model file. 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 gazebo setting and hrpsys setting - - (automatically generated) *<robot_name>*.urdf under robot_models/*<robot_name>* directory + - *<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) - - *<robot_name>*_optional_urdf_setting.sh under robot_models/*<robot_name>* directory, this is for adding description used by gazebo (such as sensor settings, collision and friction setting) -#### (automatically generated files) +### [hrpsys_gazebo_tutorials] -You can use robot_models/install_robot_common.sh for installing urdf model file. This scripts converts collada file in [hrpsys_ros_bridge_tutorials]/models directory to urdf 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. - ./install_robot_common.sh ROBOT_NAME (model directory) (output directory) (collada_to_urdf_binary) (additional_ros_package_path) +[rtmros_common]:https://github.com/start-jsk/rtmros_common +[hrpsys_gazebo_tutorials]:https://github.com/start-jsk/rtmros_tutorials/tree/master/hrpsys_gazebo_tutorials +[hrpsys_ros_bridge_tutorials]:https://github.com/start-jsk/rtmros_tutorials/tree/master/hrpsys_ros_bridge_tutorials \ No newline at end of file From aa424a90e42498b1ce650509b999532149e0c2b7 Mon Sep 17 00:00:00 2001 From: Naoki-Hiraoka Date: Tue, 14 Apr 2020 14:24:50 +0900 Subject: [PATCH 3/5] fix README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 52f36fbc..32304b17 100644 --- a/README.md +++ b/README.md @@ -39,7 +39,7 @@ This is examples and tutorials for [rtmros_common/hrpsys_ros_bridge](https://git Euslisp tutorial wiki is written in [ROS wiki](http://wiki.ros.org/rtmros_common/Tutorials/WorkingWithEusLisp). -- You should prepare robot model file. Supported types of model file are collada(openrave) and VRML(openhrp3). URDF and OpenRAVE xml can be used by converting to collada. +- 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) From 485473251ddd65898cb772b89084e8f97c5c5242 Mon Sep 17 00:00:00 2001 From: Naoki-Hiraoka Date: Thu, 16 Apr 2020 09:53:07 +0900 Subject: [PATCH 4/5] add samplerobot to README.md --- README.md | 28 +++++++++++++++++++++++++++- 1 file changed, 27 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 32304b17..0e65e4e8 100644 --- a/README.md +++ b/README.md @@ -12,6 +12,29 @@ If you use closed models, you have to compile `hrpsys_ros_bridge_tutorials` afte **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`. ### Try Sample +#### SampleRobot +Open Terminal and run gazebo + +``` +roslaunch hrpsys_gazebo_tutorials gazebo_samplerobot_no_controllers.launch +``` +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) +``` + +#### HRP2 +[rtmros_hrp2](private) is needed. Open Terminal and run gazebo ``` @@ -27,6 +50,8 @@ 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) ``` @@ -51,4 +76,5 @@ Please see README in that package for further information. [rtmros_common]:https://github.com/start-jsk/rtmros_common [hrpsys_gazebo_tutorials]:https://github.com/start-jsk/rtmros_tutorials/tree/master/hrpsys_gazebo_tutorials -[hrpsys_ros_bridge_tutorials]:https://github.com/start-jsk/rtmros_tutorials/tree/master/hrpsys_ros_bridge_tutorials \ No newline at end of file +[hrpsys_ros_bridge_tutorials]:https://github.com/start-jsk/rtmros_tutorials/tree/master/hrpsys_ros_bridge_tutorials +[rtmros_hrp2]:https://github.com/start-jsk/rtmros_hrp2 From 3d19ec4f8fe5c8f36499330958794dcb75fca958 Mon Sep 17 00:00:00 2001 From: Naoki-Hiraoka Date: Thu, 16 Apr 2020 10:05:48 +0900 Subject: [PATCH 5/5] remove reference to rtmros_hrp2 from README.md --- README.md | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/README.md b/README.md index 0e65e4e8..eb63f264 100644 --- a/README.md +++ b/README.md @@ -34,7 +34,7 @@ roseus samplerobot-interface.l ``` #### HRP2 -[rtmros_hrp2](private) is needed. +`rtmros_hrp2`(private) is needed. Open Terminal and run gazebo ``` @@ -77,4 +77,3 @@ Please see README in that package for further information. [rtmros_common]:https://github.com/start-jsk/rtmros_common [hrpsys_gazebo_tutorials]:https://github.com/start-jsk/rtmros_tutorials/tree/master/hrpsys_gazebo_tutorials [hrpsys_ros_bridge_tutorials]:https://github.com/start-jsk/rtmros_tutorials/tree/master/hrpsys_ros_bridge_tutorials -[rtmros_hrp2]:https://github.com/start-jsk/rtmros_hrp2