HRP2 packages for biped whole body motion planning
Workspace for MoveIt! manipulation integration with HRP2NT. Note that the HRP2 model (URDF) is private, so this repo is not useful unless you have access to hrp2jsknt_description.
NOTE THESE INSTRUCTIONS ARE OUT OF DATE AUGUST 1 2014
To use this repo:
Install wstool package if you have not already:
sudo apt-get install python-wstool
Create a catkin workspace
mkdir -p ~/ros/ws_hrp2/src
cd ~/ros/ws_hrp2/src/
catkin_init_workspace
Use the rosinstall file to pull in all necessary repositories. This includes various repos as needed to build at the time of this writing (based on what is available as debians)
wstool init .
wstool merge https://raw.githubusercontent.com/davetcoleman/moveit_hrp2/master/moveit_hrp2.rosinstall
wstool update
Add the private package hrp2jstnt_description if you have access (sorry).
Install dependencies
rosdep install --from-paths src --ignore-src --rosdistro hydro -y -r
*This may not work well if you have rosbuild/pre-Hydro packages in your repository
Build the workspace
cd ~/ros/ws_hrp2/
catkin_make
Build necessary ROS messages into LISP version
rosrun roseus generate-all-msg-srv.sh moveit_msgs sensor_msgs geometry_msgs trajectory_msgs std_msgs actionlib_msgs visual_msgs std_srvs hrp2_moveit_msgs jsk_ik_server cmake_modules
Only if you have issues - try installing these other Ubuntu dependencies (required by jsk-ros-pkg, not this repo)
sudo apt-get install -y libomniorb4-dev omniidl libomniorb4* omni* libblas* liblapack* f2c omniidl-python omniorb-nameserver libomniorb4-1-dbg libomniorb4-dev omniorb omniorb-idl python-omniorb-dbg python-omniorb-doc
sudo apt-get install -y gsfonts-x11 texlive-fonts-extra xfonts-100dpi xfonts-75dpi xfonts-100dpi-transcoded xfonts-75dpi-transcoded
sudo apt-get install -y openjdk-7-jre openjdk-7-jdk
sudo apt-get install -y ros-hydro-ps3joy ros-hydro-rosjava-build-tools drcsim-hydro ros-hydro-moveit-full ros-hydro-actionlib-tutorials
There are two ways to use the HRP2 features:
Start the ik server:
roslaunch jsk_ik_server hrp2jsknt-ik-server.launch
Launch move_group separate:
roslaunch hrp2jsknt_moveit_config move_group_context.launch
Launch Rviz w/Motion Planning Plugin:
roslaunch hrp2jsknt_moveit_config moveit_rviz.launch
To change how many end effectors are loaded, edit the file
hrp2jsknt_moveit_config/config/kinematics.yaml
And [un]comment out the links you want the kinematics solver to use.
A script has been created for testing various functionalities
Launch Rviz first:
roslaunch hrp2jsknt_moveit_demos moveit_rviz.launch
Now run demo in different modes (change the number at the end):
roslaunch hrp2jsknt_moveit_demos hrp2_demos.launch mode:=1
Change this mode to different numbers (sub lists are their parameters)