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Getting Start with RTM-ROS system

Description: This tutorials show how to work with rtmros system using HiroNx robot

Tutorial Level: BEGINNER

Next Tutorial: Using EusLisp (roseus) to control rtmtros robots

Install (12.04 Ubuntu)

Install ROS system, See http://wiki.ros.org/hydro/Installation/Ubuntu

sudo apt-get install ros-hydro-hrpsys-ros-bridge ros-hydro-hironx-moveit-config

Trouble shooting in installation

If you have already source of rtm-ros-robotics samples, please remove or move these source directories. For example,

rm -fr ~/ros/hydro/src/rtm-ros-robotics/rtmros_common ~/ros/hydro/src/rtm-ros-robotics/openrtm_common

Please specify your catkin workspace such as ~/ros/hydro/src including rtmros_common and openrtm_common repositories.

If you have already built these source repositories, please remove these. For example,

rm -fr ~/ros/hydro/build ~/ros/hydro/devel ~/ros/hydro/install

When you asked question, following diagnostics tools may help to get full information of your system

curl -sL https://raw.github.com/start-jsk/rtmros_common/master/hrpsys_tools/scripts/rtmroswtf.sh  | bash

Try Demo Program

Biped Robot

Open Terminal and run robot

rtmlaunch hrpsys_ros_bridge samplerobot.launch

Then, launch another terminal and make a robot walk

rosrun hrpsys_ros_bridge test-samplerobot.py

sample robot in hrpsys and rviz

Manipulation Robot

Open Terminal and run robot

rtmlaunch hironx_ros_bridge hironx_ros_bridge_simulation.launch

Then, launch another terminal and play with MoveIt!

roslaunch hironx_moveit_config moveit_planning_execution.launch

System Overview

https://docs.google.com/drawings/d/1ZfQg4EHrGAC7fvHEWLVQxxjBbdmWLu9tMwqmFhb1eQo/edit?usp=sharing To learn about hrpsys_ros_bridge system, please see https://github.com/start-jsk/rtmros_common/tree/master/hrpsys_ros_bridge#.

See rtmros_nextage/Tutorials/Programming_Hiro_NEXTAGE_OPEN_GUI, to see how to play with MoveIt GUI.

See rtmros_nextage/Tutorials for more information on rtmros-system with HiroNX and Nextage robots.

System's Source-code

hrpsys (OpenRTM 's robot control)

cd ~/ros/${ROS_DISTRO}_parent/src/hrpsys

Please see https://github.com/fkanehiro/hrpsys-base hrpsys-base.

hrpsys interface for ros

cd `rospack find hrpsys_ros_bridge`

Please see https://github.com/start-jsk/rtmros_common/tree/master/hrpsys_ros_bridge hrpsys_ros_bridge.

hrpsys interface for euslisp via ros

cd `rospack find hrpsys_ros_bridge`

Please see https://github.com/start-jsk/rtmros_common/tree/master/hrpsys_ros_bridge hrpsys_ros_bridge and go to Euslisp section.

Wiki: rtmros_common/Tutorials/GettingStart (last edited 2016-04-12 08:51:12 by ShunichiNozawa)