• install choreonoid see http://jvrc.github.io/tutorials/html-ja/install.html#installation-of-choreonoid

• install just choreonoid sudo apt-get install choreonoid libcnoid-dev

• catkin build hrpsys_ros_bridge_jvrc and hrpsys_choreonoid

• roslaunch hrpsys_ros_bridge_jvrc jaxon_jvrc_choreonoid.launch

• start simulation in choreonoid

• roscd hrpsys_ros_bridge_jvrc; sudo cp config/SensorReaderRTC.*conf /usr/lib/choreonoid-1.5/rtc

• ~~sudo cp ~/ros/indigo_parent/devel/lib/{HG,PD}controller.so /usr/lib/choreonoid-1.5/rtc~~

• sudo mkdir -p /usr/lib/choreonoid-1.5/customizer; sudo mkdir /usr/lib/choreonoid-1.5/rtc # if needed