DASL Wiki

User Tools

Site Tools

Trace:
install_choreonoid

Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revisionPrevious revision
Next revision		Previous revision
install_choreonoid [2018/07/25 01:03] – [Install QT] yuhangheinstall_choreonoid [2018/08/15 11:08] (current) – [Install Choreonoid] yuhanghe
Line 51: Line 51:
 ===== Install Choreonoid ===== ===== Install Choreonoid =====
  
 +The necessary files for running Hubo 2 simulation in Choreonoid can be found in the Hubo2/Choreonoid Install File folder in the Github repository.
 +Contact me for access to the Github files.
 +
 +It is recommended to use Choreonoid version 1.5 which can be downloaded through Choreonoid's  [[http://choreonoid.org/en/download.html | official site]].
 +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 ''choreonoid''.{{ :yuhang:hubo2:screenshot_from_2018-06-28_19-33-50.png?500 |}}
 +  *Open a terminal and enter the following commands:
 +    *''cd ~/choreonoid/misc/script''
 +    *''./install-requisites-ubuntu-16.04.sh''
 +    *''cmake ~/choreonoid''
 +    *''ccmake ~/choreonoid''
 +  *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 ''BUILD_ODE_PLUGIN''.
 +  *Press the ''[Enter]'' key to switch the configuration to on.
 +  *Press ''[c]'' to configure the setting and then ''[g]'' to generate the setting file and save. Finally, press ''[e]'' to exit.{{ :yuhang:hubo2:screenshot_from_2018-06-28_19-41-47.png?500 |}}
 +  *In the terminal enter:
 +    *''sudo make install''
 +  *After the installation is complete, paste the ''OKKEE'' folder from Github into the ''~choreonoid/'' folder
 +  *Paste ''HUBOPLUGIN'' from Github into the ''~choreonoid/sample'' folder. Alternatively, use the following commands while terminal is in the directory with ''OKKEE'' and ''HUBOPLUGIN'' folders.
 +    *''cp –R OKKEE ~/choreonoid''
 +    *''cp –R HUBOPLUGIN ~/Choreonoid/sample''
 +  *Go to ~chorenoid/sample/HUBOPLUGIN folder and edit HuboPlugin.cpp
 +  *On line 14 edit the include header to the location of Hubo's codes
 +{{:yuhang:ires2018:screenshot_from_2018-08-16_03-06-15.png?700|}}
 +  *Enter the following commands to install Choreonoid with Hubo Plugin
 +    *''cd ~/choreonoid''
 +    *''cmake .''
 +    *''sudo make install''
  
 ===== Hubo 2 WALKREADY Demo ===== ===== Hubo 2 WALKREADY Demo =====
  
 +====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.
 +
 +For Daemon to work properly with Choreonoid, some parts of the code must be changed. A modified version of Daemon that works with Choreonoid is already included with Github source code inside podo_hubo_lower_tele folder.
 +
 +Use the QT Creator to build and run the programs. Then, load the Hubo 2 model and run simulator on Choreonoid.
 +
 +  *Open the QT Creator through search window.
 +  *Go to File -> Session Manager and create a new session. The name does not matter. 
 +  *Click on the new session that was created to move to Edit tab.{{ :yuhang:hubo2:screenshot_from_2018-06-28_20-57-27.png?300 |}}
 +  *Right click within project tab -> Load Project or [Ctrl + Shift + O].
 +  *Navigate to the podo_hubo_lower_tele folder -> src -> _Daemon_Chorenoid and open Daemon_Choreonoid.pro.{{ :yuhang:hubo2:screenshot_from_2018-06-28_21-04-45.png?500 |}} 
 +  *Repeat the same process and open PODOGUI.pro,ALPrograms.pro and PODOLauncher.pro. {{ :yuhang:hubo2:screenshot_from_2018-06-28_21-07-58.png?500 |}}
 +  *Editing following files in PODPLauncher.pro
 +    *Qlockfile.h
 +      * Replace ''include “../../src/corelib/io/qlockfile.h"'', with ''include “/opt/Qt5.7.0/5.7/Src/qtbase/corelib/io/qlockfile.h"''.
 +    *main.cpp
 +      * Replace ''include “../../src/_PODOLauncher/qlockfile.h"'' with ''include <qlockfile.h>''.
 +    *ui_launcherDialog.h:
 +      * Replace ''QtGui'' in the file with ''QtWidgets''.
 +      * Remove all instances of ''QCoreApplication::UnicodeUTF8''.
 +  *On the bottom left of QT Creator, make sure each program is configured for Release on build. {{ :yuhang:hubo2:screenshot_from_2018-06-29_10-43-48.png?200 |}}
 +  *Click on the Project tab to configure build options.{{ :yuhang:hubo2:screenshot_from_2018-06-29_10-38-44.png?500 |}}
 +  *Edit the build directory for each program.
 +  *For ALPrograms:
 +    *''../../build/ALBuild''
 +  *For Daemon_Choreonoid:
 +    *''../../build/_DaemonChoreonoidBuild''
 +  *For PODOGUI:
 +    *''../../build/PODOGUIBuild''
 +  *For PODOLauncher:
 +    *''../../build/PODOLauncherBuild''
 +  *For Daemon_Chorenoid, navigate to Run configuration and check ''Run in terminal'' option. {{ :yuhang:hubo2:screenshot_from_2018-06-29_10-52-21.png?500 |}}
 +  *On the top option toolbar, click on Build -> Clean All then Build -> Build All. If ''red'' error messages did not appear that means the build was successful.{{ :yuhang:hubo2:screenshot_from_2018-06-29_10-58-34.png?500 |}}
 +  *Open a terminal and enter the following command to start Choreonoid:
 +    *''choreonoid''{{ :yuhang:hubo2:screenshot_from_2018-06-29_11-00-18.png?500 |}}
 +  *On the top toolbar, click File -> Open Project and navigate to the OKKEE folder.{{ :yuhang:hubo2:screenshot_from_2018-06-29_11-04-24.png?500 |}}
 +  *Select ''test_original_1'' to open the Hubo 2 model and simulator.{{ :yuhang:hubo2:screenshot_from_2018-06-29_11-04-41.png?500 |}}
 +  *Go back to QT Creator. Right click on Daemon_Choreonoid in the project tree and select ''Run''. A terminal should open, running the Daemon_Choreonoid program.{{ :yuhang:hubo2:screenshot_from_2018-06-29_11-09-31.png?500 |}}
 +  *Right click on PODOGUI and click ''Run''. The PODOGUI should open.{{ :yuhang:hubo2:screenshot_from_2018-06-29_11-27-32.png?500 |}}
 +  *Click on Connection in PODOGUI and click on Connect.{{ :yuhang:hubo2:screenshot_from_2018-06-29_11-30-46.png?500 |}}
 +  *Click on Module, choose WalkReady AL and click ''Open Process''. If light turned green that means WalkReady AL was successfully opened.{{ :yuhang:hubo2:screenshot_from_2018-06-29_11-32-37.png?500 |}}
 +  *Go back to Choreonoid window, click on ''Start Simulation from the Beginning'' button on top of Scene view to start simulation.  Hubo 2 should start moving toward default position. 
 +  *In PODOGUI, navigate to Walking tab and click on ''Walk Ready Pos''. Hubo 2 should move toward Walk Ready Position in Choreonoid as well.{{ :yuhang:hubo2:screenshot_from_2018-06-29_11-42-10.png?500 |}}{{ :yuhang:hubo2:screenshot_from_2018-06-29_11-43-42.png?500 |}}
  
 ===== Final Words ===== ===== Final Words =====
  
-The purpose of this tutorial was to guide reader through the process of installing Ubuntu and set up Xenomai environment in preparation for working with Hubo 2.+The purpose of this tutorial was to guide reader through the process of installing QT and Choreonoid simulator in preparation for working with Hubo 2.
 \\ \\  \\ \\ 
 For questions and comments, email <hey6@unlv.nevada.edu> For questions and comments, email <hey6@unlv.nevada.edu>
install_choreonoid.1532505792.txt.gz · Last modified: by yuhanghe