search

start-jsk / rtmros_tutorials

Tutorials for rtmros packages
6 stars 61 forks source link

[hrpsys_gazebo_general] Enable hrp3hand #577

Closed Naoki-Hiraoka closed 3 years ago

Naoki-Hiraoka commented 4 years ago

https://github.com/start-jsk/rtmros_gazebo/pull/256 https://github.com/start-jsk/rtmros_hrp2/pull/559 が必要です． このPRは https://github.com/start-jsk/rtmros_tutorials/pull/568 を含んでいます．https://github.com/start-jsk/rtmros_tutorials/pull/568 の後にmergeしてください．

gazebo内でHRP2JSKNTとHRP2JSKNTSのHRP3HANDが動くようにしました． また，これによって，実機とシミュレーションが両方共HRP3HANDを使えるようになるので， jsk_hrp2_ros_bridge/scripts/jsk_hrp2_setup.py内のHRP3HANDに関するメソッドを上流のhrpsys_ros_bridge_tutorials/src/hrp2_hrpsys_config.pyに移しました．

roslaunch hrpsys_gazebo_tutorials gazebo_hrp2jsknts_no_controllers.launch
rtmlaunch  hrpsys_gazebo_tutorials hrp2jsknts_hrpsys_bringup.launch
$ roscd hrpsys_ros_bridge_tutorials/euslisp
$ roseus ./hrp2jsknts-interface.l
$ (hrp2jsknts-init)
$ (send *hrp2jsknts* :hand :arms :hook-pose)
$ (send *ri* :hand-angle-vector (send *hrp2jsknts* :hand-angle-vector) 2000)
$ (send *hrp2jsknts* :hand :arms :grasp-pose)
$ (send *ri* :hand-angle-vector (send *hrp2jsknts* :hand-angle-vector) 2000)

hrp3hand

Naoki-Hiraoka commented 3 years ago

https://github.com/start-jsk/rtmros_hrp2/issues/578 によって不要になりました．