Merge pull request #543 from mmurooka/update-gazebo-readme

[hrpsys_gazebo_tutorials/README.md] Update hrp2jsknts gazebo document
start-jsk · May 1, 2018 · 1f1a973 · 1f1a973
2 parents 39f8db5 + 5384d48
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diff --git a/.travis b/.travis
diff --git a/hrpsys_gazebo_tutorials/README.md b/hrpsys_gazebo_tutorials/README.md
@@ -1,18 +1,37 @@
 ## How to move SampleRobot in Gazebo with hrpsys-base
-1. confirm if there is a SampleRobot.urdf in ```hrpsys_gazebo_tutorials/robot_models/SampleRobot```
-1. ```source `rospack find hrpsys_gazebo_tutorials`/setup.sh; roslaunch hrpsys_gazebo_tutorials gazebo_samplerobot_no_controllers.launch```
-1. ```rtmlaunch hrpsys_gazebo_tutorials samplerobot_hrpsys_bringup.launch```
-1. ```roscd hrpsys_ros_bridge_tutorials/euslisp; roseus samplerobot-interface.l "(samplerobot-init)" "(objects (list *sr*))" "(send *ri* :angle-vector (send *sr* :angle-vector) 5000)"```
+Confirm if there is a SampleRobot.urdf in ```hrpsys_gazebo_tutorials/robot_models/SampleRobot```
+```
+roslaunch hrpsys_gazebo_tutorials gazebo_samplerobot_no_controllers.launch
+rtmlaunch hrpsys_gazebo_tutorials samplerobot_hrpsys_bringup.launch
+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 move HRP2JSKNTS in Gazebo with hrpsys-base
+![](images/gazebo_hrp2jsknts.png)
+```
+roslaunch hrpsys_gazebo_tutorials gazebo_hrp2jsknts_no_controllers.launch
+rtmlaunch hrpsys_gazebo_tutorials hrp2jsknts_hrpsys_bringup.launch
+roscd hrpsys_ros_bridge_tutorials/euslisp
+roseus hrp2jsknts-interface.l
+(hrp2jsknts-init)
+(objects (list *hrp2jsknts*))
+(send *ri* :angle-vector (send *hrp2jsknts* :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```
-1. ```rtmlaunch hrpsys_gazebo_tutorials jaxon_hrpsys_bringup.launch```
-1. ```roslaunch jsk_footstep_controller hrp2jsk_footcoords.launch```
-1. ```roslaunch drc_task_common operator_station_main_jaxon.launch```
-1. ```roslaunch drc_task_common field_computer_main.launch USE_LOCALHOST:=true```
-
+```
+roslaunch hrpsys_gazebo_tutorials gazebo_jaxon_without_multisense_no_controllers.launch
+rtmlaunch hrpsys_gazebo_tutorials jaxon_hrpsys_bringup.launch
+roslaunch jsk_footstep_controller hrp2jsk_footcoords.launch
+roslaunch drc_task_common operator_station_main_jaxon.launch
+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.
 

diff --git a/hrpsys_gazebo_tutorials/images/gazebo_hrp2jsknts.png b/hrpsys_gazebo_tutorials/images/gazebo_hrp2jsknts.png
+33 −0		CHANGELOG.rst
+1 −1		docker.sh
+1 −1		package.xml
+3 −0		rosdep-install.sh
+11 −12		travis.sh
+1 −1		travis_jenkins.py