fkanehiro / choreonoid_ros_pkg

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About

This repository provides ROS support for Choreonoid

choreonoid_ros_pkg: Meta-package to build Choreonoid packages

choreonoid_ros: Choreonoid catkin package

choreonoid_plugin: Choreonoid plugins to publish ROS topic

jvrc_models: Simulation models and tasks for JVRC

Usage

Make sure you have installed wstool and catkin

$ sudo apt-get install python-rosinstall python-catkin-tools

Create catkin workspace

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws
$ catkin init
$ catkin config --merge-devel --install

Checkout choreonoid_ros_pkg

$ cd ~/catkin_ws/src
$ wstool init
$ wstool set choreonoid_ros_pkg https://github.com/fkanehiro/choreonoid_ros_pkg.git --git -y
$ wstool update choreonoid_ros_pkg

Build

$ cd ~/catkin_ws
$ rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y
$ export CMAKE_PREFIX_PATH=~/catkin_ws/devel:/opt/ros/$ROS_DISTRO
$ catkin build choreonoid_ros_pkg
$ source install/setup.bash

Run

$ roslaunch choreonoid_ros choreonoid.launch

Note

For further details, please visit https://fkanehiro.github.io/choreonoid_ros_pkg_doc