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Install

This chapter explains how to install the Choreonoid ROS package.

About

The Choreonoid ROS package provides ROS package's Choreonoid and ROS support for Choreonod's plugin.

The Choreonoid ROS package are comprised of the following ROS package.

  • choreonoid_ros_pkg: Meta-package to build Choreonoid packages
  • choreonoid_ros: Choreonoid catkin package
  • choreonoid_plugin: Choreonoid plugins to publish ROS topic
  • jvrc_models: Simulation models and tasks for JVRC

Assumed environment for install

Verified that the Choreonoid ROS package opertes on the following platform.

  • Ubuntu 14.04 64-bit PC (AMD) desktop + ROS Indigo

OS installation, please finish in advance.

How to install OS, please see http://www.ubuntu.com/download/desktop/install-ubuntu-desktop

ROS and required package installation is described in the next section.

Preliminary preparation for install

How to install ROS and required package.

Install ROS Indigo

Run the following command:

$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net --recv-key 0xB01FA116
$ sudo apt-get update
$ sudo apt-get install ros-indigo-desktop-full
$ echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

Procedure details, please see http://wiki.ros.org/indigo/Installation/Ubuntu

Install required package (without simtrans)

Run the following command:

$ sudo apt-get install python-rosinstall python-catkin-tools

After the intstallation, run the initialization and update of ROS package database:

$ sudo rosdep init
$ rosdep update

Run the following command, make sure without error:

$ rosdep db
          :
        <snip>
          :
$ echo $?
0

Command rosdep details, please see http://wiki.ros.org/rosdep

Install required package (simtrans)

Run the following command:

$ sudo add-apt-repository ppa:hrg/daily
$ sudo apt-get update
$ sudo apt-get install python-pip openhrp meshlab imagemagick python-omniorb openrtm-aist-python
$ git clone https://github.com/fkanehiro/simtrans.git
$ cd simtrans
$ sudo pip install -r requirements.txt
$ sudo python setup.py install

Confirm installation:

$ which simtrans
/usr/local/bin/simtrans
$ simtrans -h
usage: simtrans [-h] [-i FILE] [-o FILE] [-f FORMAT] [-c] [-b] [-t FORMAT]
                [-p PREFIX] [-s] [-e SPGR] [-v]

Convert robot simulation model from one another.
          :
        <snip>
          :
$ echo $?
0

Command simtrans details, please see https://github.com/fkanehiro/simtrans

Install RoKi package

In this course to install the RoKi because it uses Choreonoid RoKi plugin. Install RoKi and required package, run the following command.

$ sudo apt-get install roki roki-dev

Install Choreonoid ROS Plugin

How to install Choreonoid ROS plugin.

To use the package, you first have to create catkin workspace:

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws
$ catkin init

Then, checkout choreonoid_ros_pkg under catkin_ws/src folder:

$ cd ~/catkin_ws/src
$ wstool init
$ wstool set choreonoid_ros_pkg https://github.com/fkanehiro/choreonoid_ros_pkg.git --git -y
$ wstool update choreonoid_ros_pkg

Install dependent packages:

$ cd ~/catkin_ws
$ rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y

Install Choreonoid with RoKi plugin, run the following command.

  1. Create 'additional_cmake_args' file under the '~/catkin_ws/src/choreonoid_ros_pkg/choreonoid_ros' directory.
$ touch ~/catkin_ws/src/choreonoid_ros_pkg/choreonoid_ros/additional_cmake_args
  1. Edit 'additional_cmake_args' file.
$ gedit ~/catkin_ws/src/choreonoid_ros_pkg/choreonoid_ros/additional_cmake_args

Edit after the save.

-DBUILD_ROKI_PLUGIN=ON -DROKI_DIR=/usr

Details please see 'Setting of the CMake at the build of the Choreonoid'.

Build and install catkin packages:

$ cd ~/catkin_ws
$ export CMAKE_PREFIX_PATH=~/catkin_ws/devel:/opt/ros/indigo
$ catkin config --install
$ catkin build choreonoid_ros_pkg
$ source install/setup.bash

To use the URDF/SDF based models in Choreonoid, please install sdfloader as well:

$ cd ~/catkin_ws/src
$ wstool set choreonoid_sdfloader_plugin https://github.com/fkanehiro/choreonoid-sdfloader-plugin.git --git -y
$ wstool update choreonoid_sdfloader_plugin
$ cd ~/catkin_ws
$ catkin build choreonoid_sdfloader_plugin

Changing ROS default setup.

Modify line of 'source /opt/ros/indigo/setup.bash' in the ~/.bashrc by any text editor:

source ~/catkin_ws/install/setup.bash

  • If reverting ROS default setup.

    Modify line of 'source ~/catkin_ws/install/setup.bash' in the ~/.bashrc by any text editor:

    source /opt/ros/indigo/setup.bash

    After reverting, run the following command:

    $ source ~/.bashrc

Update Choreonoid ROS Plugin

How to update Choreonoid ROS plugin.

Run the following command:

$ cd ~/catkin_ws/src
$ wstool update choreonoid_ros_pkg
$ wstool update choreonoid_sdfloader_plugin (*)
$ cd ~/catkin_ws
$ catkin clean -b
$ catkin build choreonoid_ros_pkg
$ catkin build choreonoid_sdfloader_plugin (*)
$ source install/setup.bash

(*) If you have installed.

Setting of the CMake at the build of the Choreonoid

If you want to including the other plugins at the time of build of the Choreonoid. In the following steps, you can make it.

  1. Create 'additional_cmake_args' file under the '~/catkin_ws/src/choreonoid_ros_pkg/choreonoid_ros' directory.

    $ touch ~/catkin_ws/src/choreonoid_ros_pkg/choreonoid_ros/additional_cmake_args

  2. Edit 'additional_cmake_args' file.

    $ gedit ~/catkin_ws/src/choreonoid_ros_pkg/choreonoid_ros/additional_cmake_args

    e.g. If you want to append the OpenRTM plugin.

    -DENABLE_CORBA=ON -DBUILD_CORBA_PLUGIN=ON -DBUILD_OPENRTM_PLUGIN=ON -DBUILD_OPENRTM_SAMPLES=ON

  3. Run the following command.

    $ cd ~/catkin_ws
$ catkin clean -a
$ catkin build choreonoid_ros_pkg
$ catkin build choreonoid_sdfloader_plugin (*)
$ source install/setup.bash

    (*) If you want to install.

For setting information, please refer to the http://choreonoid.org/en/manuals/1.5/install/options.html and the like.

Troubleshoot

Solve of a problem of after installation.

  • If startup problem of 'roslaunch choreonoid_ros jvrc-1-rviz.launch'.

    Checking the catkin config value of 'Extending':

    $ cd ~/catkin_ws
$ catkin config
           :
         <snip>
           :
Extending:             [env] /opt/ros/indigo
           :
         <snip>
           :

    • if case '[env | cached] <path to your home directory>/catkin_ws/devel:/opt/ros/indigo':

      Run the following command:

      $ source install/setup.bash
$ roslaunch choreonoid_ros jvrc-1-rviz.launch

    • if case '[env] /opt/ros/indigo':

      Run the following command:

      $ export CMAKE_PREFIX_PATH=~/catkin_ws/devel:/opt/ros/indigo
$ source install/setup.bash
$ roslaunch choreonoid_ros jvrc-1-rviz.launch

    • if case '[cached] /opt/ros/indigo' or other case:

      Run the following command:

      $ catkin clean -a
$ export CMAKE_PREFIX_PATH=~/catkin_ws/devel:/opt/ros/indigo
$ catkin build choreonoid_ros_pkg
$ catkin build choreonoid_sdfloader_plugin (*)
$ source install/setup.bash
$ roslaunch choreonoid_ros jvrc-1-rviz.launch

      (*) If you want to install.