wkentaro/rtmros_tutorials

Tutorials for rtmros packages

rtmros_tutorials

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

Try Sample

Open Terminal and run gazebo

roslaunch hrpsys_gazebo_tutorials gazebo_hrp2jsknt_no_controllers.launch

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* :go-pos 0 0 0)

Package Description

hrpsys_ros_bridge_tutorialsls

This is examples and tutorials for rtmros_common/hrpsys_ros_bridge.

Euslisp tutorial wiki is written in ROS wiki.