DASL Wiki

This tutorial will walk the reader through ROS and Gazebo installation, and how to get the two to work together. The reader is expected to be comfortable with using terminal in Ubuntu.
This tutorial will follow these steps:

• Computer and Software Configuration for DRC-Hubo Simulator
• ROS Installation
• Installation of DRC-Hubo Plugin
• How to Start Gazebo Simulator with PODO

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 is the minimum needed to run the necessary software. You will need to have a computer that has Ubuntu 14.04LTS or higher. If you don't please install Ubuntu before going further.

To install ROS please refer to these links:

• Installation

\\This is the installation for ROS-Jade. This version comes pre-installed with gazebo 5.3.0. If you have a different version of ROS it is ok. Just delete your version of gazebo and install 5.3.0. If the reader already have ROS I trust that the reader will be able to figure this out.

• Creating workspace

\\If you are new to ROS you will need to create your workplace (part 3 of tutorial) in order to go further.

Once You have finished installation of ROS and the workspace it is time to download Gazebo.

1. Open a terminal and run the command:

cd ~/catkin_ws/src

then run:

git clone -b indigo-devel https://github.com/JeongsooLim/drc_hubo

2. Once you have confirmed it was installed correctly, move all the folders in the directory “home/{user_name}/catkin_ws/src/drc_hubo/gazebo_model” to “home/{user_name}/.gazebo/models/” using:

cp -a ~/catkin_ws/src/drc_hubo/gazebo_models/. ~/.gazebo/models/

then run the command:

source ~/catkin_ws/devel/setup.bash

use the:

ls ~/.gazebo/models

to double check that all of the correct files were copied over. Compare the files in the red box.

3. Now you need to change some paths using gedit. Open the file using:

gedit ~/.gazebo/models/DRC_hubo/DRC_hubo.sdf

scroll to the end of the code and change:

<plugin name=“drc_plugin” filename=“/home/hubo/catkin_ws/devel/lib/libdrc_plugin.so”/>
to
<plugin name=“drc_plugin” filename=“/home/<username>/catkin_ws/devel/lib/libdrc_plugin.so”/>

4. Since the first terminal used to open gedit is used to run gedit you will need to open a new terminal and run:

gedit ~/.gazebo/models/DRC_head/DRC_head.sdf

scroll down about to the end of the code and change:

<plugin name=“drc_plugin” filename=“/home/hubo/catkin_ws/devel/lib/libdrc_plugin.so”/>
to
<plugin name=“drc_plugin” filename=“/home/<username>/catkin_ws/devel/lib/libdrc_plugin.so”/>

5. Run:

gedit ~/.gazebo/models/DRC_head_kinect/DRC_head_kinect.sdf

scroll down about to the end of the code and change:

<plugin name=“drc_plugin” filename=“/home/hubo/catkin_ws/devel/lib/libdrc_plugin.so”/>
to
<plugin name=“drc_plugin” filename=“/home/<username>/catkin_ws/devel/lib/libdrc_plugin.so”/>

6. Run:

gedit ~/catkin_ws/src/drc_hubo/ros/drc_podo_connector/src/podo_connector.cpp

scroll down about to line 178 and change:

fpNet = fopen(“/home/hubo/catkin_ws/src/drc_hubo/ros/settings/network.txt”,”r”)
to
fpNet = fopen(“/home/<username>/catkin_ws/src/drc_hubo/ros/settings/network.txt”,”r”)

7. Run:

gedit ~/catkin_ws/src/drc_hubo/ros/drc_plugin/src/drc_plugin.cpp

scroll down about to line 42 and change:

fpNet = fopen(“/home/hubo/catkin_ws/src/drc_hubo/ros/settings/network.txt”,”r”)
to
fpNet = fopen(“/home/<username>/catkin_ws/src/drc_hubo/ros/settings/network.txt”,”r”)

Then scroll down about to line 51 and change:

fpGain = fopen(“/home/hubo/catkin_ws/src/drc_hubo/ros/settings/gain.txt”,”r”)
to
fpGain = fopen(“/home/<username>/catkin_ws/src/drc_hubo/ros/settings/gain.txt”,”r”)

8. Run:

gedit ~/catkin_ws/src/drc_hubo/ros/drc_podo_connector/launch/drc_hubo.launch

Go to line 10 and change:

<arg name=“gui” value=“false”/>
to
<arg name=“gui” value=“true”/>

Then scroll down about to line 18 and change:

/home/hubo/.gazebo/models/DRC_hubo/
to
/home/<username>/.gazebo/models/DRC_hubo/

9. Once you complete changing the paths in some files, open a terminal and:

cd ~/catkin_ws

in order to execute:

catkin_make

1. Open a new terminal and run:

roscore

2. Open the PODO Launcher from your personal podo folder.

3. In ‘Daemon Setting’, ‘Gazebo’ and ‘Use ROS’ must be selected

4. Once you have all of the setting correct click the start Daemon and Start GUI buttons.
5. Once open connect the GUI to Daemon.
6. In a new terminal run:

cd ~/catkin_ws

then

source devel/setup.bash

finally launch gazebo and r-viz using the command:

roslaunch drc_podo_connector drc_hubo.launch

You should now see the two programs open with the DRC-hubo model.

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 repeated connect to server failed texts use Ctr+c to cancel the command and re-try.