Running Hubo ROS with DART

Steps to launch the hubo using hubo motion, DART, ROS-ACH bridge, and robot state publisher:

0. Set the simulation time

$ rosparam set use_sim_time true

1. Launch hubo-motion-rt

$ sudo service hubo-motion virtual

2. Launch hubo-ach-tab

You MUST run this in ~/workspace/dartsim/hubo-ach-tab/build!
$ ./HuboAchTab

Now, File->Load and open hubo-models/hubo-plus-empty-world.urdf
You should now see a hubo standing in the middle of the simulator
3. Launch ROS-ACH bridge

$ rosrun hubo_ros_ach_bridge feedback

4. (Start here to visualize the hubo with no feedback from DART. The default URDF values will be continually published) Launch joint state publisher and robot state publisher

$ roslaunch hubo_ach_ros_bridge display_hubo_state.launch

5. Launch RVIZ

$ rosrun rviz rviz

Set fixed frame to Body_RAR (right ankle roll joint)
Add robot model display (everything should work)