install_choreonoid
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| install_choreonoid [2018/07/25 00:50] – yuhanghe | install_choreonoid [2018/08/15 11:08] (current) – [Install Choreonoid] yuhanghe | ||
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| **Keywords: | **Keywords: | ||
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| The photo above depicts Choreonoid. Choreonoid is an open-source integrated GUI software for robots. It is being developed by Shin’ichiro Nakaoka et al of the National Institute of Advanced Industrial Science and Technology (AIST) in Japan. By default, the tool includes a choreography function and a dynamics simulator. Other functionality can be added, as the tool also functions as a framework for developing GUI applications for robots. | The photo above depicts Choreonoid. Choreonoid is an open-source integrated GUI software for robots. It is being developed by Shin’ichiro Nakaoka et al of the National Institute of Advanced Industrial Science and Technology (AIST) in Japan. By default, the tool includes a choreography function and a dynamics simulator. Other functionality can be added, as the tool also functions as a framework for developing GUI applications for robots. | ||
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| * Interested in learning how to simulate Hubo 2 | * Interested in learning how to simulate Hubo 2 | ||
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| + | * 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 |
| \\ \\ | \\ \\ | ||
| For questions and comments, email < | For questions and comments, email < | ||
install_choreonoid.1532505047.txt.gz · Last modified: by yuhanghe