hrpsys-superbuild

mc-rtc-superbuild extension for hrpsys and choreonoid

Summary

This repository is an extension repository for mc-rtc-superbuild.

It downloads:

• openrtm2 packages

It builds:

• openhrp3 and hrpsys-base from hrpsys-base.cmake
• choreonoid from choreonoid.cmake
• mc_openrtm and mc_udp from mc-openrtm.cmake

Please note that PR have been opened and will be merged soon for mc_openrtm and mc_udp.

Install

• Tested with Ubuntu 22.04 / ROS Humble

Install ccache and increase the cache size for ccache.

$ sudo apt install ccache
$ ccache -M 10G

Clone all sources, build, and install.

$ mkdir ~/workspace
$ cd ~/workspace
$ git clone https://github.com/mc-rtc/mc-rtc-superbuild
$ git clone git@github.com:isri-aist/hrpsys-superbuild mc-rtc-superbuild/extensions/hrpsys-superbuild
$ cd mc-rtc-superbuild
$ ./utils/bootstrap-linux.sh
$ cmake --preset  relwithdebinfo
$ cmake --build --preset relwithdebinfo

Add the following line to ~/.bashrc.

source $HOME/workspace/install/setup_mc_rtc.sh

Example

Put the following contents in ~/.config/mc_rtc/mc_rtc.yaml.

MainRobot: JVRC1
Timestep: 0.005
Enabled: Posture

Run a kinematics simulation.

# Terminal 1
$ mc_rtc_ticker
# Terminal 2
$ ros2 launch mc_rtc_ticker display.launch

Run a dynamics simulation.

# Terminal 1
$ cd ~/workspace/install/share/hrpsys/samples/JVRC1/
$ ./clear-omninames.sh # Only needed the first time after booting Ubuntu
$ choreonoid sim_mc.cnoid --start-simulation
# Terminal 2
$ ros2 launch mc_rtc_ticker display.launch