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hrpsys_gazebo_tutorials

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How to move SampleRobot in Gazebo with hrpsys-base

  1. confirm if there is a SampleRobot.urdf in hrpsys_gazebo_tutorials/robot_models/SampleRobot
  2. source `rospack find hrpsys_gazebo_tutorials`/setup.sh; roslaunch hrpsys_gazebo_tutorials gazebo_samplerobot_no_controllers.launch
  3. rtmlaunch hrpsys_gazebo_tutorials samplerobot_hrpsys_bringup.launch
  4. roscd hrpsys_ros_bridge_tutorials/euslisp; roseus samplerobot-interface.l "(samplerobot-init)" "(objects (list *sr*))" "(send *ri* :angle-vector (send *sr* :angle-vector) 5000)"

Do not forget to type pkill gzserver in addition to Ctrl-c in order to kill gazebo.

How to test DRC Teleop Program in Gazebo with hrpsys-base

  1. roslaunch hrpsys_gazebo_tutorials gazebo_jaxon_without_multisense_no_controllers.launch
  2. rtmlaunch hrpsys_gazebo_tutorials jaxon_hrpsys_bringup.launch
  3. roslaunch jsk_footstep_controller hrp2jsk_footcoords.launch
  4. roslaunch drc_task_common operator_station_main_jaxon.launch
  5. roslaunch drc_task_common field_computer_main.launch USE_LOCALHOST:=true

Do not forget to type pkill gzserver in addition to Ctrl-c in order to kill gazebo. Force sensor value is not valid.

Launch gazebo with kinematics mode

Fix the base link of the robot in the reference position of hrpsys. set KINEMATICS_MODE as true in xxx_hrpsys_bringup.launch

e.g.

rtmlaunch hrpsys_gazebo_general samplerobot_hrpsys_bringup.launch KINEMATICS_MODE:=true

Kinect interactive mode

Kinect is spawned to gazebo and movable with interactive marker in rviz.

roslaunch hrpsys_gazebo_tutorials gazebo_kinect_interactive.launch

Kinect Cube interactive mode

Kinect and cube are spawned to gazebo and movable with interactive marker in rviz.

roslaunch hrpsys_gazebo_tutorials gazebo_kinect_cube_interactive.launc

LIP simulation

LIP (Linear Inverted Pendulum) is the simple dynamic model of humanoid robot.

roslaunch hrpsys_gazebo_tutorials gazebo_lip.launch