- This is a DYROS JET Humanoid Repository
sudo apt-get install ros-kinetic-qt-build ros-kinetic-realtime-tools ros-kinetic-smach-viewer
cd ~/catkin_ws/src
git clone https://github.com/KumarRobotics/imu_3dm_gx4
git clone https://github.com/psh117/rt_dynamixel_msgs
git clone -b 3.6.0 https://github.com/ROBOTIS-GIT/DynamixelSDK.git
git clone https://github.com/saga0619/mujoco_ros_sim.gitwget https://bitbucket.org/rbdl/rbdl/get/849d2aee8f4c.zip
unzip 849d2aee8f4c.zip
cd rbdl-rbdl-849d2aee8f4c
mkdir build
cd build
cmake -D RBDL_BUILD_ADDON_URDFREADER=ON ..
make all
sudo make install- If an error occurs, open rbdl-rbdl-[commit]/addons/urdfreader/urdfreader.cc
- and remove this line
#include <ros.h>- Launch V-Rep
- Open
dyros_jet_new_api.ttt
dyros_jet_vrep/scene/dyros_jet_new_api.ttt
- roslaunch
roslaunch dyros_jet_launch simulation.launch- If you get an error about the .so file when launching simulation, add the following command to ~/.bashrc
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib- GUI
rosrun dyros_jet_gui dyros_jet_gui- Prepare a simple test (Once)
chmod +x dyros_jet_mission_commander/src/commander.py
catkin_make- Run the simple test
rosrun dyros_jet_mission_commander commander.py- Install moveit
sudo apt install ros-kinetic-moveit- Launch moveit
roslaunch dyros_jet_moveit dyros_jet_moveit.launch- Get pointcloud to moveit
rosrun pcl_ros pcd_to_pointcloud ~/example.pcd _frame_id:=odomif you want new frame of pointcloud,
rosrun tf static_transform_publisher 0 0 0 -1.5708 0 -1.5708 base_link odom2 100tf static_tranform_publisher x y z α β γ parent_frame child_frame period(milliseconds)
-
mujoco_ros - MUJOCO_ROS_SIM
-
GUI
rosrun dyros_jet_gui dyros_jet_gui- roslaunch
roslaunch dyros_jet_launch mujoco.launch- Read this http://wiki.ros.org/CppStyleGuide
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