ban-masa/rtmros_choreonoid

install choreonoid from source

compile choreonoid

$ sudo apt-get install libyaml-dev
$ export CNOID_INSTALL_DIR=/usr/local/choreonoid
$ export CNOID_RTM_DIR=${HOME}/ros/indigo_parent/devel
$ git clone https://github.com/s-nakaoka/choreonoid.git
$ mkdir -p choreonoid/build
$ cd choreonoid/build
## not use python3, and not use pybind11 for backward compatibility
$ cmake .. -DCMAKE_INSTALL_PREFIX=${CNOID_INSTALL_DIR} -DOPENRTM_DIR=${CNOID_RTM_DIR} -DENABLE_INSTALL_RPATH=ON -DENABLE_CORBA=ON -DBUILD_CORBA_PLUGIN=ON -DBUILD_OPENRTM_PLUGIN=ON -DBUILD_HELLO_WORLD_SAMPLE=ON -DBUILD_SPRING_MODEL_SAMPLE=ON -DUSE_PYTHON3=OFF -DUSE_PYBIND11=OFF
$ make -j8
$ sudo make install

download source files

wstool set --git rtm-ros-robotics/rtmros_choreonoid https://github.com/start-jsk/rtmros_choreonoid.git
wstool update rtm-ros-robotics/rtmros_choreonoid

compile BodyRTC etc.

$ export CNOID_INSTALL_DIR=/usr/local/choreonoid
$ export PKG_CONFIG_PATH=${CNOID_INSTALL_DIR}/lib/pkgconfig:$PKG_CONFIG_PATH
$ roscd hrpsys_choreonoid
$ catkin build --this

add PATH

export PATH=${CNOID_INSTALL_DIR}/bin:$PATH

run test

catkin build hrpsys_choreonoid_tutorials
rtmlaunch hrpsys_choreonoid_tutorials jaxon_red_choreonoid.launch

Tips

Move viewpoint in the simulation (Choreonoidシミュレータ内での視点の移動方法）

Move cursor while pushing space key.

Use middle button with thinkpad keyborad

Write functions below on .bashrc

function choreonoidinput () {
xinput set-prop "TPPS/2 IBM TrackPoint" "Evdev Wheel Emulation" 0
xinput set-prop "TPPS/2 IBM TrackPoint" "Evdev Wheel Emulation Button" 3
xinput set-prop "TPPS/2 IBM TrackPoint" "Evdev Wheel Emulation" 1
}

function defaultinput () {
xinput set-prop "TPPS/2 IBM TrackPoint" "Evdev Wheel Emulation" 0
xinput set-prop "TPPS/2 IBM TrackPoint" "Evdev Wheel Emulation Button" 2
xinput set-prop "TPPS/2 IBM TrackPoint" "Evdev Wheel Emulation" 1
}

Type 'choreonoidinput' for changing role of buttons. Then middle button can work to translate views and right button can work to zoom views.

For returning to default input, type 'defaultinput' in any terminals.

for JVRC (Old information), this may work with 'last_working_jvrc' tag

$ sudo add-apt-repository ppa:hrg/daily
$ sudo apt-get update
$ sudo apt-get install choreonoid libcnoid-dev

install choreonoid see http://jvrc.github.io/tutorials/html-ja/install.html#installation-of-choreonoid
catkin build hrpsys_ros_bridge_jvrc and hrpsys_choreonoid
roslaunch hrpsys_ros_bridge_jvrc jaxon_jvrc_choreonoid.launch TASK:=O1

ban-masa / rtmros_choreonoid