MasutaniLab / choreonoid_ros_control_sample

choreonoid_ros_control_sample

• Based on https://qiita.com/FAL19/items/7b4a491e2399aa5cf7c9

• However, URDF for body and new ROS control plugin.

• Install
  $ws means path of your work space.

  mkdir -p $ws/src
  cd $ws/src
  git clone https://github.com/MasutaniLab/choreonoid_ros_control_sample
  cd $ws
  catkin build
  

• Terminal 1

  cd $ws
  source devel/setup.bash
  roslaunch choreonoid_ros_control_sample bringup.launch
  

• Terminal 2

  cd $ws
  source devel/setup.bash
  roslaunch choreonoid_ros_control_sample display.launch 
  

• Terminal 3

  cd $ws
  source devel/setup.bash
  rosrun choreonoid_ros_control_sample sinewave_command