Differences

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--- installing_gazebo_with_drc-hubo_model [2016/08/01 08:41] – keitaronishimura
+++ installing_gazebo_with_drc-hubo_model [2018/02/18 15:03] (current) – keitaronishimura
@@ Line 1: / Line 1: @@
 ====Installing Gazebo with DRC-HUBO model====
+\\
+{{:tut30.png?600}}
+\\
 ===How to use this tutorial===
 \\
-This tutorial will walk the reader through ROS and Gazebo installation, and how to get the two to work together. The reader is expected to be comfortable with using terminal in Ubuntu.
+This tutorial will walk the reader through ROS and simulator installation with the DRC-Hubo model. This tutorial will lightly go over how to get the two to work together. But controlling the model through PODO will be explained in another tutorial. The reader is expected to be comfortable with using the terminal in Ubuntu. This tutorial will take the reader 1.5-2 hrs to finish.
+\\
+I will recommend that the reader use multiple monitors since there are going to be multiple programs open at once.
 \\
 This tutorial will follow these steps:
@@ Line 10: / Line 14: @@
   *[[Installing Gazebo with DRC-HUBO model#ROS Installation|ROS Installation]]
   *[[Installing Gazebo with DRC-HUBO model#Installation of DRC-Hubo Plugin|Installation of DRC-Hubo Plugin]]
+  *[[Installing Gazebo with DRC-HUBO model#QT Installation]]
   *[[Installing Gazebo with DRC-HUBO model#How to Start Gazebo Simulator with PODO|How to Start Gazebo Simulator with PODO]]
 ===Computer and Software Configuration for DRC-Hubo Simulator===
 \\
-For the purpose of simulating real-time events having a higher end computer is recommended. Having and Intel i5-4th gen. is a minimum, and having a dedicated GPU is recommended. However the Intergraded Intel HD 5000 series is the minimum needed to run the necessary software. You will need to have a computer that has Ubuntu 14.04LTS or higher. If you don't please install Ubuntu before going further.
+For the purpose of simulating real-time events having a higher end computer is recommended. Having and Intel i5-4th gen. is a minimum, and having a dedicated GPU is recommended. However, the author was able to run the software using an Intergraded Intel HD 5000 series chip. You will need to have a computer that has Ubuntu 16.04LTS. If you don't please install Ubuntu before going further.
 \\
 ===ROS Installation===
+\\
+You will first need to install gazebo7. Do not download any other version as the code will not be compatible. If:
+\\
+----
+<fc purple>
+sudo apt-get install gazebo7
+</fc>
+----
+Then try to open gazebo to test that it works. This may take some time depending on how powerful your computer is:
+----
+<fc purple>
+gazebo
+</fc>
+----
 \\
 To install ROS please refer to these links:
-  *[[http://wiki.ros.org/jade/Installation/Ubuntu|Installation]]
+  *[[http://wiki.ros.org/kinetic/Installation/Ubuntu|Installation for Kinetic on Ubuntu 16.04]]
-\\This is the installation for ROS-Jade. This version comes pre-installed with gazebo 5.3.0. If you have a different version of ROS it is ok. Just delete your version of gazebo and install 5.3.0. If the reader already have ROS I trust that the reader will be able to figure this out.
+\\
+This is the installation for ROS-Kinetic. These come pre-installed with gazebo7 but it is just the ros plugin instead of a full install. That is why we needed to do a full install beforehand.
+\\
   *[[http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment|Creating workspace]]
-\\If you are new to ROS you will need to create your workplace (part 3 of tutorial) in order to go further.
+\\
+If you are new to ROS you will need to create your workplace (part 3 of the tutorial) in order to go further.
 \\
 {{:tut1.png?400}}
 \\
+Once done with setting up the workspace all terminals used and don't forget to add it to your bashrc file so you don't need to source it all the time. First, open the .bashrf file in a new terminal:
+----
+<fc purple>
+gedit ~/.bashrc
+</fc>
+----
+Then add this line of code at the very end of the file:
+----
+<fc purple>
+source ~/catkin_ws/devel/setup.bash
+</fc>
+----
+\\
 ===Installation of DRC-Hubo Plugin===
 \\
-Once You have finished installation of ROS and the workspace it is time to download Gazebo.
+Once You have finished installation of ROS and the workspace it is time to download the Gazebo model of HUB.
 . Open a terminal and run the command:
@@ Line 37: / Line 73: @@
 </fc>
 ----
-then run:
+run:
 ----
 <fc purple>
-git clone -b indigo-devel https://github.com/JeongsooLim/drc_hubo
+git clone https://github.com/JeongsooLim/drc_hubo
 </fc>
 ----
@@ Line 50: / Line 86: @@
 ----
 <fc purple>
-cp -a ~/catkin_ws/src/drc_hubo/gazebo_models/. ~/.gazebo/models/
+cp -a ~/catkin_ws/src/drc_hubo/gazebo_model/. ~/.gazebo/models/
 </fc>
 ----
-then run the command:
+\\
+<fc red>
+Note: If you get an error stating that the .gazebo/models directory doesn't exist just add it manually:
+</fc>
 ----
 <fc purple>
- source ~/catkin_ws/devel/setup.bash
+mkdir -r ~/.gazebo/models
 </fc>
 ----
@@ Line 197: / Line 236: @@
 {{:tut10.png?400}}
 \\
+===QT Instalation===
+Follow the instructions in the real-time installation tutorial
+\\
 ===How to Start Gazebo Simulator with PODO===
 \\
@@ Line 208: / Line 252: @@
 {{:tut13.png?400}}
 \\
-. Open the PODO Launcher from your personal podo folder.
+. Open the PODO Launcher from the drc_hubo folder by:
+----
+<fc purple>
+cd catkin_ws/src/drc_hubo/podo/Execute\ Daemon/
+</fc>
+----
+then run:
+----
+<fc purple>
+./PODOLauncher
+</fc>
+----
 \\
-{{:tut11.png?400}}
+{{:tut19.png?400}}
 \\
-. In ‘Daemon Setting’, ‘Gazebo’ and ‘Use ROS’ must be selected
+. In ‘Daemon Setting’, ‘Gazebo’ and ‘Use ROS’ must be selected and make sure that the Daemon path is set to the daemon exe file inside drc_hubo/podo and not to your personal file.
 \\
-{{:tut12.png?400}}
+{{:tut18.png?400}}
 \\
-. Once you have all of the setting correct click the start Daemon and Start GUI buttons.
+. Once you have all of the setting correct click the start Daemon.
 \\
-. Once open connect the GUI to Daemon.
+{{:tut20.png?400}}
 \\
 . In a new terminal run:
 ----
 <fc purple>
@@ Line 232: / Line 287: @@
 </fc>
 ----
-finally launch gazebo and r-viz using the command:
+finally, launch gazebo and r-viz using the command:
 ----
 <fc purple>
@@ Line 240: / Line 295: @@
 You should now see the two programs open with the DRC-hubo model.
 \\
-{{:tut14.png?400}}
+{{:tut14.png?400}} {{:tut22.png?400}}
 \\
 <fc red>
-NOTE: if you see that gazebo and r-viz don't start up with the model immediately don't panic (especially if you aren't using a computer with a dedicated GPU). Just give it some time. However if you see in the terminal repeated connect to server failed texts use Ctr+c to cancel the command and re-try.
+NOTE: if you see that gazebo and r-viz don't start up with the model immediately don't panic (especially if you aren't using a computer with a dedicated GPU). Just give it some time. However if gazebo or r-viz suddenly crash use Ctrl+c in the terminal to cancel the command and re-try again until it works. At first when gazebo loads the DRC-Hubo model will look like it is flying. This will fix its self after a while so do not panic.
 </fc>
 \\
-{{tut15.png?400}} {{tut16.png?400}} {{tut17.png?400}}
+{{tut15.png?400}} {{tut16.png?400}} {{tut21.png?400}}
+\\
+. Now it is time to test the simulators. You will need to open the GUI inside the drc_hubo podo folder. Open qt and start a new session.
+\\
+{{:tut23.png?400}}
+\\
+. Once in the new session open both the PODOGUI and ALPrograms .pro files. Make sure that you are in the appropriate folder, use the pictures bellow for reference.
+\\
+{{:tut24.png?400}} {{:tut25.png?400}} {{:tut26.png?400}}
+\\
+. Once all of the projects are in the session go to the projects tab and make sure that the build directories are going to the right place. Refer to the pictures for the correct place. Note that the build files are in the same folder as the project files. Also make sure, using the computer icon at the bottom left corner that all the projects are in Release mode.
+\\
+{{:tut31.png?400}} {{:tut32.png?400}}
+\\
+. Once you have all of the appropriate folders Rebuild all the projects run PODOGUI. Connect to Daemon and turn on the Walkready AL by double clicking it in the module tab.
+\\
+{{:tut27.png?400}} {{tut28.png?400}}
+\\
+. Now go to the Tutorial tab and click the Walk Ready button. You will now notice that in both simulators the hubo model is now (depending on your system slowly) moving into the Walk Ready pose.
+\\
+{{:tut29.png?400}} {{:tut30.png?400}}
 \\