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install_choreonoid [2018/07/25 01:09] – [Install Choreonoid] yuhangheinstall_choreonoid [2018/08/15 11:08] (current) – [Install Choreonoid] yuhanghe
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     *''cp –R OKKEE ~/choreonoid''     *''cp –R OKKEE ~/choreonoid''
     *''cp –R HUBOPLUGIN ~/Choreonoid/sample''     *''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   *Enter the following commands to install Choreonoid with Hubo Plugin
     *''cd ~/choreonoid''     *''cd ~/choreonoid''
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 ===== 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.1532506187.txt.gz · Last modified: by yuhanghe