From 0c6655b3c72e8a67d66925f4518d370e0c09392c Mon Sep 17 00:00:00 2001 From: Naoki-Hiraoka Date: Mon, 13 Apr 2020 16:23:04 +0900 Subject: [PATCH 1/2] fix readme.md --- README.md | 37 +++++++++++++++++++++---------------- 1 file changed, 21 insertions(+), 16 deletions(-) diff --git a/README.md b/README.md index 8561fea5..43703255 100644 --- a/README.md +++ b/README.md @@ -7,6 +7,26 @@ rtmros_gazebo [![Build Status](https://travis-ci.org/start-jsk/rtmros_gazebo.pn Please refer [rtmros_common] for installing these packages. +### Try Sample +Open Terminal and run gazebo + +``` +roslaunch hrpsys_gazebo_general gazebo_samplerobot_no_controllers.launch +``` +Launch another terminal and start hrpsys-base +``` +rtmlaunch hrpsys_gazebo_general samplerobot_hrpsys_bringup.launch +``` +Launch another terminal and send command to robot by roseus +``` +roscd hrpsys_ros_bridge/euslisp/ +roseus samplerobot-interface.l +(samplerobot-init) +(setq *robot* (instance samplerobot-robot :init)) +(send *ri* :angle-vector (send *robot* :reset-pose) 5000) +(send *ri* :go-pos 0 0 0) +``` + ### Package Description ### [hrpsys_gazebo_general] @@ -26,16 +46,6 @@ This package consists iob.cpp which is low-level interface of RobotHardware on h - HRPSYS_GAZEBO_IOB_SUBSTEPS - Number of substeps. Controlling command will be sent in every substeps. (default: 1) -### [hrpsys_gazebo_tutorials] - -This package is a collection of examples for using hrpsys_gazebo system and utility scripts. - -- You should prepare robot model file. Supported types of model file are collada(openrave) and VRML(openhrp3). URDF and OpenRAVE xml can be used by converting to collada. - - *<robot_name>*.yaml for configurating gazebo setting and hrpsys setting - - (automatically generated) *<robot_name>*.urdf under robot_models/*<robot_name>* directory - - (automatically generated) hrpsys settings (you should have a collada or VRML robot model file) - - *<robot_name>*_optional_urdf_setting.sh under robot_models/*<robot_name>* directory, this is for adding description used by gazebo (such as sensor settings, collision and friction setting) - #### Setting of *<robot_name>*.yaml files This is yaml file for configuring gazebo setting. @@ -77,17 +87,12 @@ This is yaml file for configuring gazebo setting. # IMU sensor settings # configuration of IMU sensor # key of imu_sensors_config should be a member of imu_sensors + # pose of imu_sensor relative to parent link should be specified in URDF. imu_sensors: - imu_sensor0 imu_sensors_config: imu_sensor0: {ros_name: 'ros_imu_sensor', link_name: 'LINK_NAME0', frame_id: 'LINK_NAME0'} -#### (automatically generated files) - -You can use robot_models/install_robot_common.sh for installing urdf model file. This scripts converts collada file in [hrpsys_ros_bridge_tutorials]/models directory to urdf file. - - ./install_robot_common.sh ROBOT_NAME (model directory) (output directory) (collada_to_urdf_binary) (additional_ros_package_path) - [gazebo]:http://gazebosim.org [rtmros_common]:https://github.com/start-jsk/rtmros_common [hrpsys_gazebo_general]:https://github.com/start-jsk/rtmros_gazebo/tree/master/hrpsys_gazebo_general From 431c5022948e8381d286399e7171215d5c19151e Mon Sep 17 00:00:00 2001 From: Naoki-Hiraoka Date: Tue, 14 Apr 2020 16:56:40 +0900 Subject: [PATCH 2/2] remove unused lines from README.md --- README.md | 2 -- 1 file changed, 2 deletions(-) diff --git a/README.md b/README.md index 43703255..5be10449 100644 --- a/README.md +++ b/README.md @@ -96,5 +96,3 @@ This is yaml file for configuring gazebo setting. [gazebo]:http://gazebosim.org [rtmros_common]:https://github.com/start-jsk/rtmros_common [hrpsys_gazebo_general]:https://github.com/start-jsk/rtmros_gazebo/tree/master/hrpsys_gazebo_general -[hrpsys_gazebo_tutorials]:https://github.com/start-jsk/rtmros_gazebo/tree/master/hrpsys_gazebo_tutorials -[hrpsys_ros_bridge_tutorials]:https://github.com/start-jsk/rtmros_tutorials/tree/master/hrpsys_ros_bridge_tutorials