install_choreonoid
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| install_choreonoid [2018/07/25 00:31] – created yuhanghe | install_choreonoid [2018/08/15 11:08] (current) – [Install Choreonoid] yuhanghe | ||
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| **Date:** Last modified on < | **Date:** Last modified on < | ||
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| - | **Keywords: | + | **Keywords: |
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| - | {{ : | + | {{ : |
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| - | The photo above depicts | + | The photo above depicts |
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| ===== Motivation and Audience ===== | ===== Motivation and Audience ===== | ||
| - | The tutorial serves as an tutorial for installing | + | The tutorial serves as an tutorial for installing |
| <fc blue> | <fc blue> | ||
| - | * Know basic elements of programming process | + | * Know how to use Linux System |
| \\ | \\ | ||
| - | * Interested in Ubuntu Operating System | + | * Interested in learning how to use dynamic simulator |
| \\ | \\ | ||
| - | * Interested in implementing RTOS process with Xenomai | + | * Interested in learning how to simulate Hubo 2 |
| + | \\ | ||
| + | * Interested in installing and using QT | ||
| </fc> | </fc> | ||
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| The rest of this tutorial is presented as follows: | The rest of this tutorial is presented as follows: | ||
| - | * [[install_ubuntu_xenomai#install_ubuntu|Install | + | * [[install_choreonoid#install_qt|Install |
| - | * [[install_ubuntu_xenomai#install_xenomai_3.0|Install | + | * [[install_choreonoid#install_choreonoid |
| - | * [[install_ubuntu_xenomai#set_default_boot_to_xenomai|Set Default Boot to Xenomai]] | + | * [[install_choreonoid#hubo_2_walkready_demo|Hubo 2 WALKREADY Demo]] |
| - | * [[install_ubuntu_xenomai# | + | * [[install_choreonoid# |
| + | |||
| + | ===== Install QT ===== | ||
| + | |||
| + | The software on Hubo 2 and DRC-Hubo are developed through QT. Therefore, it is necessary to install QT on Linux first. | ||
| + | |||
| + | *Download QT verson 5.7.0 from the [[https:// | ||
| + | *Open terminal and change directory to where the downloaded file is located and then run: | ||
| + | *'' | ||
| + | *'' | ||
| + | *During the installation wizard, check that QT will be installed in the ''/ | ||
| + | *For QT program to work with Xenomai. Xenomai debug.h file need to be modified. Run: | ||
| + | *'' | ||
| + | *Go to the '' | ||
| + | *Comment out the two #define debug lines. | ||
| + | {{ : | ||
| + | |||
| + | ===== Install Choreonoid ===== | ||
| + | |||
| + | The necessary files for running Hubo 2 simulation in Choreonoid can be found in the Hubo2/ | ||
| + | Contact me for access to the Github files. | ||
| + | |||
| + | It is recommended to use Choreonoid version 1.5 which can be downloaded through Choreonoid' | ||
| + | The latest version may not be compatible with current codes. | ||
| + | |||
| + | *Download the compressed file from download page and extract the file into the home directory. | ||
| + | *rename the folder to '' | ||
| + | *Open a terminal and enter the following commands: | ||
| + | *'' | ||
| + | *'' | ||
| + | *'' | ||
| + | *'' | ||
| + | *The “ccmake” executable is the CMake curses interface. Project configuration settings may be specified interactively through this GUI. | ||
| + | *Use the keyboard arrow key to scroll down the list to find '' | ||
| + | *Press the '' | ||
| + | *Press '' | ||
| + | *In the terminal enter: | ||
| + | *'' | ||
| + | *After the installation is complete, paste the '' | ||
| + | *Paste '' | ||
| + | *'' | ||
| + | *'' | ||
| + | *Go to ~chorenoid/ | ||
| + | *On line 14 edit the include header to the location of Hubo's codes | ||
| + | {{: | ||
| + | *Enter the following commands to install Choreonoid with Hubo Plugin | ||
| + | *'' | ||
| + | *'' | ||
| + | *'' | ||
| + | |||
| + | ===== Hubo 2 WALKREADY Demo ===== | ||
| - | ===== Install Ubuntu ===== | + | ====Hubo 2 WalkReady Demo ==== |
| + | This part of tutorial will guide readers through the process for running the Daemon, PODOGUI, and WalkReady AL for Hubo 2 in Choreonoid. | ||
| - | *Download Ubuntu ISO from [[https:// | + | For Daemon |
| - | *Write the ISO file to a bootable USB device. | + | |
| - | *For Windows user: download USB formatting tools such as [[http:// | + | |
| - | *Plug the USB device into a USB port. | + | |
| - | *Power on the computer. | + | |
| - | *Press F2 to enter BIOS Setup and select the bootable USB device. | + | |
| - | *Follow the standard Ubuntu installation process. Detail can be found in [[https:// | + | |
| - | ===== Install Xenomai 3.0 ===== | + | Use the QT Creator to build and run the programs. Then, load the Hubo 2 model and run simulator on Choreonoid. |
| - | *After ubuntu is installed, connect to the Internet, search for update in the search window, run the software updater, and perform all updates. | + | *Open the QT Creator through |
| - | *Open the terminal (Ctrl + Alt + T) and enter the following in order. | + | *Go to File -> Session Manager |
| - | | + | |
| - | * | + | *Right click within project tab -> Load Project or [Ctrl + Shift + O]. |
| - | *Search for Ubuntu Software in the search box and run it. | + | *Navigate to the podo_hubo_lower_tele folder |
| - | *In Ubuntu Software, search | + | *Repeat |
| - | *In the synaptic package manager, search for the follow packages and check them for installation. Choose | + | *Editing following files in PODPLauncher.pro |
| - | *'' | + | *Qlockfile.h |
| - | *'' | + | * Replace |
| - | *'' | + | *main.cpp |
| - | *'' | + | * Replace |
| - | *'' | + | *ui_launcherDialog.h: |
| - | *'' | + | * Replace |
| - | *Click | + | * Remove all instances of '' |
| - | *Copy the RTOS folder downloaded from Github repository to the following directory | + | *On the bottom left of QT Creator, make sure each program is configured for Release on build. |
| - | *''/ | + | *Click |
| - | *Open a new terminal, type '' | + | *Edit the build directory for each program. |
| - | *'' | + | *For ALPrograms: |
| - | *'' | + | *'' |
| - | *Enter the following command in terminal. | + | *For Daemon_Choreonoid: |
| - | *'' | + | *'' |
| - | *'' | + | *For PODOGUI: |
| - | *During | + | *'' |
| - | *Open a terminal and type uname -a to verify that xenomai has booted normally. | + | *For PODOLauncher: |
| - | *'' | + | *'' |
| - | *Activate '' | + | *For Daemon_Chorenoid, |
| - | *'' | + | *On the top option toolbar, click on Build -> Clean All then Build -> Build All. If '' |
| - | *'' | + | *Open a terminal and enter the following command |
| - | *'' | + | *'' |
| - | *'' | + | *On the top toolbar, click File -> Open Project |
| - | *'' | + | *Select |
| - | *'' | + | *Go back to QT Creator. Right click on Daemon_Choreonoid in the project tree and select |
| - | *'' | + | *Right click on PODOGUI and click '' |
| - | {{ : | + | *Click on Connection in PODOGUI and click on Connect.{{ : |
| - | ===== Set Default Boot to Xenomai ===== | + | *Click on Module, choose WalkReady AL and click '' |
| - | Set the default boot to Xenomai so the Ubuntu system will automatically boot with Xenomai environment. | + | *Go back to Choreonoid window, click on '' |
| + | *In PODOGUI, navigate to Walking tab and click on '' | ||
| - | *Open a new terminal and run the command: | ||
| - | *'' | ||
| - | *In the executed gedit file, change the non-zero value of GRUB_DEFAULT to "1> 6". Number 6 is the usual boot sequence number of Xenomai.{{ : | ||
| - | *Save and close the window and run: | ||
| - | *'' | ||
| - | *Reboot the computer again. Enter the following to terminal: | ||
| - | *'' | ||
| - | The Ubuntu should have started in Xenomai environment. | ||
| ===== Final Words ===== | ===== Final Words ===== | ||
| - | The purpose of this tutorial was to guide reader through the process of installing | + | The purpose of this tutorial was to guide reader through the process of installing |
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| For questions and comments, email < | For questions and comments, email < | ||
install_choreonoid.1532503900.txt.gz · Last modified: by yuhanghe