Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

fix readme.md #251

Merged
merged 2 commits into from
May 4, 2020
Merged

fix readme.md #251

Changes from 1 commit
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
0c6655b
fix readme.md
Naoki-Hiraoka Apr 13, 2020
431c502
remove unused lines from README.md
Naoki-Hiraoka Apr 14, 2020
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
37 changes: 21 additions & 16 deletions README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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]
Expand All @@ -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.
Expand Down Expand Up @@ -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
Expand Down