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