dyros_red_sim

• This project is controller of humanoid robot DYROS RED, which is torque controlled robot. It's main control algorithm is based on "Contact Consistent Control for Humanoid Robots, Jaeheung Park". This controller can be simulated through mujoco_ros

Environment

• Tested by ubuntu 16.04 , 18.04
• for mujoco users, 18.04 is better than 16.04 since there are graphical issues in 16.04
• faster communication between mujoco and controller at ubuntu 18.04 (lag of mujoco or controller due to graphical problem?? 18.04 is faster anyway :) )
• there are qpOASES installation problem at 18.04, can be solved with adding compile option

SOEM Setup

• install SOEM

RBDL Setup

Installing

wget https://bitbucket.org/rbdl/rbdl/get/default.zip
unzip default.zip
cd rbdl-rbdl-0879ee8c548a
mkdir build
cd build
cmake -D RBDL_BUILD_ADDON_URDFREADER=ON ..
make all
sudo make install

RBDL Error handling

• If any error related to ROS occurs, open rbdl-rbdl-[commit]/addons/urdfreader/urdfreader.cc and remove following line

#include <ros.h>

• If error " 'boost' does not name a type" occurs, open rbdl-rbdl-[commit]/addons/urdfreader/urdfreader.cc and edit boost::shared_ptr to std::shared_ptr. (line 15~18)

typedef std::shared_ptr<urdf::Link> LinkPtr;
typedef const std::shared_ptr<const urdf::Link> ConstLinkPtr;
typedef std::shared_ptr<urdf::Joint> JointPtr;
typedef std::shared_ptr<urdf::ModelInterface> ModelPtr;

• If red controller can't find librbdl.so.2.6.0, Add following line to .bashrc

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib

qpOASES setup

Download qpOASES Link

cd qpOASES-3.2.1
mkdir build
cd build
cmake ..
make all
sudo make install

qpOASES error handling

if error occures, add following line to qpOASES-3.2.1/CMakeLists.txt, below PROJECT(qpOASES CXX), which is line 34

add_compile_options(-fPIC)

Dyros Red Controller Setup

Download 1.0 version from release list. 1.0 release Unzip at ros worksapce (ex:catkin_ws)

ncurse Setup

sudo apt-get install libncurses5-dev

Mujoco setup

license file

For mujoco user, you need to edit the position of license in dyros_red_simulation/simulation.launch with your license file's location (mjkey.txt at Home for default)

How to start with mujoco

clone mujoco_ros_sim, then build.

• git clone https://github.com/saga702/mujoco_ros_sim

after build, launch simulation.launch

roslaunch dyros_red_launch simulation.launch