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install choreonoid see http://jvrc.github.io/tutorials/html-ja/install.html#installation-of-choreonoid
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install just choreonoid
sudo apt-get install choreonoid libcnoid-dev -
catkin build hrpsys_ros_bridge_jvrc and hrpsys_choreonoid
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roslaunch hrpsys_ros_bridge_jvrc jaxon_jvrc_choreonoid.launch
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start simulation in choreonoid -
roscd hrpsys_ros_bridge_jvrc; sudo cp config/SensorReaderRTC.*conf /usr/lib/choreonoid-1.5/rtc -
~~sudo cp ~/ros/indigo_parent/devel/lib/{HG,PD}controller.so /usr/lib/choreonoid-1.5/rtc~~
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sudo mkdir -p /usr/lib/choreonoid-1.5/customizer; sudo mkdir /usr/lib/choreonoid-1.5/rtc # if needed