installing_gazebo_with_drc-hubo_model
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installing_gazebo_with_drc-hubo_model [2016/08/01 08:28] – keitaronishimura | installing_gazebo_with_drc-hubo_model [2018/02/18 15:03] (current) – keitaronishimura | ||
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====Installing Gazebo with DRC-HUBO model==== | ====Installing Gazebo with DRC-HUBO model==== | ||
+ | \\ | ||
+ | {{: | ||
+ | \\ | ||
===How to use this tutorial=== | ===How to use this tutorial=== | ||
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- | This tutorial will walk the reader through ROS and Gazebo | + | This tutorial will walk the reader through ROS and simulator |
+ | \\ | ||
+ | I will recommend that the reader use multiple monitors since there are going to be multiple programs open at once. | ||
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This tutorial will follow these steps: | This tutorial will follow these steps: | ||
- | *Computer and Software Configuration for DRC-Hubo Simulator | + | *[[Installing Gazebo with DRC-HUBO model#Computer and Software Configuration for DRC-Hubo Simulator| Computer and Software Configuration for DRC-Hubo Simulator]] |
- | *ROS Installation | + | *[[Installing Gazebo with DRC-HUBO model#ROS Installation|ROS Installation]] |
- | *Installation of DRC-Hubo Plugin | + | *[[Installing Gazebo with DRC-HUBO model#Installation of DRC-Hubo Plugin|Installation of DRC-Hubo Plugin]] |
- | *How to Start Gazebo Simulator with PODO | + | *[[Installing Gazebo with DRC-HUBO model#QT Installation]] |
+ | *[[Installing Gazebo with DRC-HUBO model#How to Start Gazebo Simulator with PODO|How to Start Gazebo Simulator with PODO]] | ||
===Computer and Software Configuration for DRC-Hubo Simulator=== | ===Computer and Software Configuration for DRC-Hubo Simulator=== | ||
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- | For the purpose of simulating real-time events having a higher end computer is recommended. Having and Intel i5-4th gen. is a minimum, and having a dedicated GPU is recommended. However the Intergraded Intel HD 5000 series | + | For the purpose of simulating real-time events having a higher end computer is recommended. Having and Intel i5-4th gen. is a minimum, and having a dedicated GPU is recommended. However, the author was able to run the software using an Intergraded Intel HD 5000 series |
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===ROS Installation=== | ===ROS Installation=== | ||
+ | \\ | ||
+ | You will first need to install gazebo7. Do not download any other version as the code will not be compatible. If: | ||
+ | \\ | ||
+ | ---- | ||
+ | <fc purple> | ||
+ | sudo apt-get install gazebo7 | ||
+ | </fc> | ||
+ | ---- | ||
+ | Then try to open gazebo to test that it works. This may take some time depending on how powerful your computer is: | ||
+ | ---- | ||
+ | <fc purple> | ||
+ | gazebo | ||
+ | </fc> | ||
+ | ---- | ||
\\ | \\ | ||
To install ROS please refer to these links: | To install ROS please refer to these links: | ||
- | *[[http:// | + | *[[http:// |
+ | \\ | ||
+ | This is the installation for ROS-Kinetic. These come pre-installed with gazebo7 but it is just the ros plugin instead of a full install. That is why we needed to do a full install beforehand. | ||
+ | \\ | ||
*[[http:// | *[[http:// | ||
+ | \\ | ||
+ | If you are new to ROS you will need to create your workplace (part 3 of the tutorial) in order to go further. | ||
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{{: | {{: | ||
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+ | Once done with setting up the workspace all terminals used and don't forget to add it to your bashrc file so you don't need to source it all the time. First, open the .bashrf file in a new terminal: | ||
+ | ---- | ||
+ | <fc purple> | ||
+ | gedit ~/.bashrc | ||
+ | </fc> | ||
+ | ---- | ||
+ | Then add this line of code at the very end of the file: | ||
+ | ---- | ||
+ | <fc purple> | ||
+ | source ~/ | ||
+ | </fc> | ||
+ | ---- | ||
+ | \\ | ||
+ | |||
===Installation of DRC-Hubo Plugin=== | ===Installation of DRC-Hubo Plugin=== | ||
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- | Once You have finished installation of ROS and the workspace it is time to download Gazebo. | + | Once You have finished installation of ROS and the workspace it is time to download |
1. Open a terminal and run the command: | 1. Open a terminal and run the command: | ||
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</fc> | </fc> | ||
---- | ---- | ||
- | then run: | + | run: |
---- | ---- | ||
<fc purple> | <fc purple> | ||
- | git clone -b indigo-devel | + | git clone https:// |
</fc> | </fc> | ||
---- | ---- | ||
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---- | ---- | ||
<fc purple> | <fc purple> | ||
- | cp -a ~/ | + | cp -a ~/ |
</fc> | </fc> | ||
---- | ---- | ||
- | then run the command: | + | \\ |
+ | <fc red> | ||
+ | Note: If you get an error stating that the .gazebo/ | ||
+ | </fc> | ||
---- | ---- | ||
<fc purple> | <fc purple> | ||
- | | + | mkdir -r ~/.gazebo/models |
</fc> | </fc> | ||
---- | ---- | ||
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---- | ---- | ||
scroll to the end of the code and change: | scroll to the end of the code and change: | ||
- | \\ | + | ---- |
<plugin name=" | <plugin name=" | ||
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<plugin name=" | <plugin name=" | ||
- | \\ | + | ---- |
{{: | {{: | ||
\\ | \\ | ||
Line 91: | Line 132: | ||
---- | ---- | ||
scroll down about to the end of the code and change: | scroll down about to the end of the code and change: | ||
- | \\ | + | ---- |
<plugin name=" | <plugin name=" | ||
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<plugin name=" | <plugin name=" | ||
- | \\ | + | ---- |
{{: | {{: | ||
\\ | \\ | ||
Line 107: | Line 148: | ||
---- | ---- | ||
scroll down about to the end of the code and change: | scroll down about to the end of the code and change: | ||
- | \\ | + | ---- |
<plugin name=" | <plugin name=" | ||
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\\ | \\ | ||
<plugin name=" | <plugin name=" | ||
- | \\ | + | ---- |
{{: | {{: | ||
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Line 123: | Line 164: | ||
---- | ---- | ||
scroll down about to line 178 and change: | scroll down about to line 178 and change: | ||
- | \\ | + | ---- |
fpNet = fopen(“/ | fpNet = fopen(“/ | ||
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fpNet = fopen(“/ | fpNet = fopen(“/ | ||
- | \\ | + | ---- |
{{: | {{: | ||
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---- | ---- | ||
scroll down about to line 42 and change: | scroll down about to line 42 and change: | ||
- | \\ | + | ---- |
fpNet = fopen(“/ | fpNet = fopen(“/ | ||
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fpNet = fopen(“/ | fpNet = fopen(“/ | ||
- | \\ | + | ---- |
Then scroll down about to line 51 and change: | Then scroll down about to line 51 and change: | ||
- | \\ | + | ---- |
fpGain = fopen(“/ | fpGain = fopen(“/ | ||
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fpGain = fopen(“/ | fpGain = fopen(“/ | ||
- | \\ | + | ---- |
{{: | {{: | ||
+ | \\ | ||
8. Run: | 8. Run: | ||
---- | ---- | ||
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---- | ---- | ||
Go to line 10 and change: | Go to line 10 and change: | ||
- | \\ | + | ---- |
<arg name=“gui” value=< | <arg name=“gui” value=< | ||
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<arg name=“gui” value=< | <arg name=“gui” value=< | ||
- | \\ | + | ---- |
Then scroll down about to line 18 and change: | Then scroll down about to line 18 and change: | ||
- | \\ | + | ---- |
- | / | + | / |
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to | to | ||
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- | /home/</fc>/< | + | / |
- | \\ | + | ---- |
{{: | {{: | ||
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{{: | {{: | ||
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+ | ===QT Instalation=== | ||
+ | |||
+ | Follow the instructions in the real-time installation tutorial | ||
+ | \\ | ||
+ | |||
===How to Start Gazebo Simulator with PODO=== | ===How to Start Gazebo Simulator with PODO=== | ||
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{{: | {{: | ||
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- | 2. Open the PODO Launcher from your personal podo folder. | + | 2. Open the PODO Launcher from the drc_hubo |
+ | ---- | ||
+ | <fc purple> | ||
+ | cd catkin_ws/ | ||
+ | </ | ||
+ | ---- | ||
+ | then run: | ||
+ | ---- | ||
+ | <fc purple> | ||
+ | ./ | ||
+ | </ | ||
+ | ---- | ||
\\ | \\ | ||
- | {{:tut11.png?400}} | + | {{:tut19.png?400}} |
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- | 4. In ‘Daemon Setting’, ‘Gazebo’ and ‘Use ROS’ must be selected | + | 3. In ‘Daemon Setting’, ‘Gazebo’ and ‘Use ROS’ must be selected |
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- | {{:tut12.png?400}} | + | {{:tut18.png?400}} |
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- | 5. Once you have all of the setting correct click the start Daemon | + | 4. Once you have all of the setting correct click the start Daemon. |
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- | 6. Once open connect the GUI to Daemon. | + | {{:tut20.png?400}} |
- | \\ | + | \\ |
- | 7. In a new terminal run: | + | 5. In a new terminal run: |
---- | ---- | ||
<fc purple> | <fc purple> | ||
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</fc> | </fc> | ||
---- | ---- | ||
- | finally launch gazebo and r-viz using the command: | + | finally, launch gazebo and r-viz using the command: |
---- | ---- | ||
<fc purple> | <fc purple> | ||
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You should now see the two programs open with the DRC-hubo model. | You should now see the two programs open with the DRC-hubo model. | ||
\\ | \\ | ||
- | {{: | + | {{:tut14.png?400}} {{:tut22.png? |
\\ | \\ | ||
<fc red> | <fc red> | ||
- | NOTE: if you see that gazebo and r-viz don't start up with the model immediately don't panic (especially if you aren't using a computer with a dedicated GPU). Just give it some time. However if you see in the terminal | + | NOTE: if you see that gazebo and r-viz don't start up with the model immediately don't panic (especially if you aren't using a computer with a dedicated GPU). Just give it some time. However if gazebo or r-viz suddenly crash use Ctrl+c |
</fc> | </fc> | ||
\\ | \\ | ||
- | {{tut15.png? | + | {{tut15.png? |
+ | \\ | ||
+ | 6. Now it is time to test the simulators. You will need to open the GUI inside the drc_hubo podo folder. Open qt and start a new session. | ||
+ | \\ | ||
+ | {{: | ||
+ | \\ | ||
+ | 7. Once in the new session open both the PODOGUI and ALPrograms .pro files. Make sure that you are in the appropriate folder, use the pictures bellow for reference. | ||
+ | |||
+ | \\ | ||
+ | {{: | ||
+ | \\ | ||
+ | 8. Once all of the projects are in the session go to the projects tab and make sure that the build directories are going to the right place. Refer to the pictures for the correct place. Note that the build files are in the same folder as the project files. Also make sure, using the computer icon at the bottom left corner that all the projects are in Release mode. | ||
+ | \\ | ||
+ | {{: | ||
+ | \\ | ||
+ | 9. Once you have all of the appropriate folders Rebuild all the projects run PODOGUI. Connect to Daemon and turn on the Walkready AL by double clicking it in the module tab. | ||
+ | \\ | ||
+ | {{: | ||
+ | \\ | ||
+ | 10. Now go to the Tutorial tab and click the Walk Ready button. You will now notice that in both simulators the hubo model is now (depending on your system slowly) moving into the Walk Ready pose. | ||
+ | \\ | ||
+ | {{: | ||
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installing_gazebo_with_drc-hubo_model.txt · Last modified: 2018/02/18 15:03 by keitaronishimura