Author: Yu Hang He
Email: hey6@unlv.nevada.edu
Date: Last modified on <07/25/18>
Keywords: Hubo 2, Ubuntu, Choreonoid, Simulator

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 tutorial serves as an tutorial for installing Choreonoid and use it to simulate Hubo 2. Readers of this tutorial assumes the reader has the following background and interests:

* Know how to use Linux System
* Interested in learning how to use dynamic simulator
* Interested in learning how to simulate Hubo 2
* Interested in installing and using QT

The rest of this tutorial is presented as follows:

• Install QT
• Install Choreonoid
• Hubo 2 WALKREADY Demo
• Final Words

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 website
• Open terminal and change directory to where the downloaded file is located and then run:
  • sudo chmod 777 qt-opensource-linux-x64-5.7.0.run
  • sudo ./qt-opensource-linux-x64-5.7.0.run
• During the installation wizard, check that QT will be installed in the /opt directory and check all the installation items.
• For QT program to work with Xenomai. Xenomai debug.h file need to be modified. Run:
  • sudo nautilus
• Go to the computer/usr/include/xenomai/copperplate/ folder and open the debug.h file.
• Comment out the two #define debug lines.

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 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.
• 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.
• 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
• Enter the following commands to install Choreonoid with Hubo Plugin
  • cd ~/choreonoid
  • cmake .
  • sudo make install

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.

For questions and comments, email hey6@unlv.nevada.edu