start-jsk / hrpsys Goto Github PK

An OpenRTM-aist-based robot controller. This package is the most tailored for humanoid (dual-arm and/or biped) robots for historical reason.

Makefile 2.06% Shell 6.84% Python 36.04% CMake 55.05%

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k-okada 130s garaemon bchretien yoheikakiuchi snozawa raavin rkoyama1623-2021 trigrass2 sportsbite

hrpsys's Issues

update .travis for both catkin and rosbuild

start-jsk/openrtm_aist_core#29

Release 315.2.3

I personally (for my job) want some latest commits. Although 315.2.2 isn't released yet as ROS pkg, are we ready for the next version?

PR list for hrpsys trunk

list up the PRs waiting for hrpsys trunk release.

hrpsys/samplesのreadmeのチュートリアルのように
rosrun hrpsys samplerobot-stabilizer.py
と実行しようとして「samplerobot-stabilizer.py」がないとおこられ，
rosrun hrpsys samplerobot_stabilizer.py
とハイフンからアンダースコアにしたら実行できたのであまり気にかけなかったのですが，
このgitレポジトリには確かに「samplerobot-stabilizer.py」があるように見えます．
なんとなく(http://github.com/fkanehiro/hrpsys-base)
のパッチ(？)かラッパー(？)のような気がしているのですが，このパッケージはどう扱うのが正しいのでしょうか？
すでに(http://github.com/fkanehiro/hrpsys-base)
から落とした~/ros/indigo_parent/src/hrpsysが存在する場合，このパッケージをどのように導入するのでしょうか？

Pre-release build keeps failing on Groovy

On Groovy, it failed. http://jenkins.ros.org/job/devel-groovy-hrpsys/ARCH_PARAM=amd64,UBUNTU_PARAM=precise,label=devel/2/console

-- catkin 0.5.86
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 1 packages in topological order:
-- ~~  - hrpsys
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'hrpsys'
-- ==> add_subdirectory(hrpsys)
CMake Error at /opt/ros/groovy/share/catkin/cmake/catkinConfig.cmake:72 (find_package):
  Could not find a configuration file for package openrtm_aist.

  Set openrtm_aist_DIR to the directory containing a CMake configuration file
  for openrtm_aist.  The file will have one of the following names:

    openrtm_aistConfig.cmake
    openrtm_aist-config.cmake

Call Stack (most recent call first):
  hrpsys/catkin.cmake:6 (find_package)
  hrpsys/CMakeLists.txt:2 (include)


CMake Error at /opt/ros/groovy/share/catkin/cmake/catkinConfig.cmake:72 (find_package):
  Could not find a configuration file for package openhrp3.

  Set openhrp3_DIR to the directory containing a CMake configuration file for
  openhrp3.  The file will have one of the following names:

    openhrp3Config.cmake
    openhrp3-config.cmake

Maybe because openrtm_aist has been failing to build.
http://jenkins.ros.org/view/GbinP64/job/ros-groovy-openrtm-aist_binarydeb_precise_amd64/

For now we can ignore Hydro because:

openrtm_aist hasn't failed, maybe just because build job hasn't been kicked for the last 3 days. http://jenkins.ros.org/view/HbinP64/job/ros-hydro-openrtm-aist_binarydeb_precise_amd64/
Pre-release build succeeds. Only its downstream build failed, which can happen for a reason like this

opencv2 install 2.4 but hrpsys assume 2.3.1

To be precise, hrpsys assumes

pkg_check_modules(OpenCV opencv)
if (NOT OpenCV_FOUND)
  pkg_check_modules(OpenCV opencv-2.3.1)
  if (NOT OpenCV_FOUND)
    message(WARNING "opencv not found")
  endif()
endif()

but opencv2 install ros-hydro-opencv2 that provies opencv2.pc, we have to install libopencv-dev for hrpsys, wait for ros/rosdistro#4763

Major version increment to 317?

OpenHRP3 is 3.1.7 since Oct 2014. And the major version of hrpsys is tied to that of OpenHRP3.

I'm just wondering. If it's not that strict I personally have no problem without syncing the versions.

Btw is this repository still in use for releasing ROS .deb?

Release 315.1.8-1 into Groovy

Latest build ver is 315.1.8-1 while 315.1.8-0 with Groovy. This is causing build failure in hrpsys-ros-bridge on G.

failed to compile using rosbuild?

according to the log of travis https://travis-ci.org/start-jsk/hrpsys/jobs/20740349,
compilation of hrpsys ends in 4 secs.

I think there is some problem.

On my laptop, rosbuild says cannot find openhrp3.1

-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Found OpenRTM-aist 1.1.0 in /home/jskuser/ros/groovy/rtm-ros-robotics/openrtm_common/openrtm_aist_core/openrtm_aist
Package openhrp3.1 was not found in the pkg-config search path.
Perhaps you should add the directory containing `openhrp3.1.pc'
to the PKG_CONFIG_PATH environment variable
No package 'openhrp3.1' found
Package openhrp3.1 was not found in the pkg-config search path.
Perhaps you should add the directory containing `openhrp3.1.pc'
to the PKG_CONFIG_PATH environment variable
No package 'openhrp3.1' found
Package openhrp3.1 was not found in the pkg-config search path.
Perhaps you should add the directory containing `openhrp3.1.pc'
to the PKG_CONFIG_PATH environment variable
No package 'openhrp3.1' found
Package openhrp3.1 was not found in the pkg-config search path.
Perhaps you should add the directory containing `openhrp3.1.pc'
to the PKG_CONFIG_PATH environment variable
No package 'openhrp3.1' found
CMake Error at cmake_modules/FindOpenHRP.cmake:86 (message):
  OpenHRP required, please specify it's location.
Call Stack (most recent call first):
  CMakeLists.txt:38 (find_package)


-- Configuring incomplete, errors occurred!
#
touch installed
make[1]: Leaving directory `/home/jskuser/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys'
-- Configuring done
-- Generating done
-- Build files have been written to: /home/jskuser/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/build
cd build && make 
make[1]: Entering directory `/home/jskuser/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/build'
make[1]: Leaving directory `/home/jskuser/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/build'

failed to build hrpsys using jsk.rosbuild

bash /tmp/jsk.rosbuild -s --rtm --from-source hydro -y

をするとコンパイルがhrpsysで止まってしまいます。

cd ros/hydro_parent
catkin clean -a
# 新しいターミナル
source /opt/ros/hydro/setup.bash
cd ros/hydro_parent/src
bash jsk-ros-pkg-jsk_roseus-setup.sh
bash rtm-ros-robotics-rtmros_common-setup_upstream.sh
catkin b hrpsys -i -v

をしてもhrpsysでfailします。

ビルド時のログを以下に貼ります。何が原因でしょうか。

https://gist.github.com/6ecae2fc7684702a9dcc
ubuntu 12.04 hydro環境

hrpsys-base.pc isn't installed in 315.1.8 .deb

Related to start-jsk/rtmros_common#355, from the source of only hrpsys, I get installation error (using cdcbdb5):

$ catkin_make
:
sed -i s@/home/n130s/ROS/cws/devel/share@/home/n130s/ROS/cws/src/hrpsys/share@s /home/n130s/ROS/cws/src/hrpsys/share/hrpsys/samples/HRP4C//HRP4C.xml 
fix /home/n130s/ROS/cws/devel/lib/pkgconfig/hrpsys-base.pc
-- Configuring done
-- Generating done
-- Build files have been written to: /home/n130s/ROS/cws/build
####
#### Running command: "make -j8 -l8" in "/home/n130s/ROS/cws/build"
####
$ catkin_make install
Base path: /home/n130s/ROS/cws
:
-- Installing: /home/n130s/ROS/cws/install/share/hrpsys/share/hrpsys/idl/NullService.idl
fix  /home/n130s/ROS/cws/src/hrpsys -> /home/n130s/ROS/cws/install
                   -> /home/n130s/ROS/cws/install/share/openhrp3
                  /home/n130s/ROS/cws/devel -> /home/n130s/ROS/cws/install
fix //home/n130s/ROS/cws/install/share/hrpsys/share/hrpsys/samples/PA10//PA10simulation.xml
fix //home/n130s/ROS/cws/install/share/hrpsys/share/hrpsys/samples/PA10//PA10monitor.xml
fix //home/n130s/ROS/cws/install/share/hrpsys/share/hrpsys/samples/PA10//hrpsys.sh
fix //home/n130s/ROS/cws/install/share/hrpsys/share/hrpsys/samples/PA10//PA10.conf
fix //home/n130s/ROS/cws/install/share/hrpsys/share/hrpsys/samples/PA10//rtc.conf
fix //home/n130s/ROS/cws/install/share/hrpsys/share/hrpsys/samples/PA10//RobotHardware.conf
fix //home/n130s/ROS/cws/install/share/hrpsys/share/hrpsys/samples/PA10//PA10.py
fix //home/n130s/ROS/cws/install/share/hrpsys/share/hrpsys/samples/HRP4C//HRP4C.sh
fix //home/n130s/ROS/cws/install/share/hrpsys/share/hrpsys/samples/HRP4C//HRP4C.xml
fix //home/n130s/ROS/cws/install/share/hrpsys/share/hrpsys/samples/HRP4C//HRP4C.conf
fix //home/n130s/ROS/cws/install/share/hrpsys/share/hrpsys/samples/HRP4C//HRP4C.py
fix //home/n130s/ROS/cws/install/share/hrpsys/share/hrpsys/samples/HRP4C//rtc.conf
fix //home/n130s/ROS/cws/install/lib/pkgconfig/hrpsys-base.pc /home/n130s/ROS/cws/devel -> /home/n130s/ROS/cws/install
sed: can't read //home/n130s/ROS/cws/install/lib/pkgconfig/hrpsys-base.pc: No such file or directory
sed: can't read //home/n130s/ROS/cws/install/lib/pkgconfig/hrpsys-base.pc: No such file or directory
sed: can't read //home/n130s/ROS/cws/install/lib/pkgconfig/hrpsys-base.pc: No such file or directory
$
$ find . -iname "hrpsys*.pc"
./install/lib/pkgconfig/hrpsys.pc
./build/hrpsys/build/hrpsys-base/hrpsys-base.pc
./build/hrpsys/catkin_generated/installspace/hrpsys.pc
./devel/lib/pkgconfig/hrpsys.pc
./devel/lib/pkgconfig/hrpsys-base.pc

Build hrpsys locally using catkin

When this repository (start-jsk/hrpsys) worked as the devel repository of hrpsys, I can simply build it by using catkin_make as a normal catkin package.

Now looks like hrpsys isn't a simple catkin package. Where is the right repository to download the compilable source, and what is the right way to build it locally?

Even a rough description is appreciated. Once I'll get to compile it, I'll document it and fire a PR.

I'm in need of building the latest source ASAP before waiting for the DEB release (related fkanehiro/hrpsys-base#522).

create_changelog.sh returns empty /tmp/create_changelog.rst

$ cd %TOP_CATKIN_WORKSPACE%
$ rm -fr build devel
$ catkin_make
$ rosrun hrpsys create_changelog.sh 
$ more /tmp/create_changelog.rst
(empty)
$ cd %TOP_CATKIN_WORKSPACE%/build//start-jsk/openrtm_common/hrpsys/build/hrpsys-base-source
$ git log
(shows the log older than it's supposed to be)

Request to release 315.2.7(?)

Now I'm testing deb hrpsys package for UnstableRTC.
315.2.6 seems not to include the following PR:
fkanehiro/hrpsys-base#347

I'd like to include this PR.
Could you update version?
(Just few days ago, version was upgraded to 315.2.6, sorry...)

request for releasing hrpsys 315.1.10

update to 315.1.10

hrpsys-base
- ProjectGenerator : clean up debug message (https://code.google.com/p/hrpsys-base/issues/detail?id=193)
- PA10.py : call initCORBA() in main,log is already started in activateComps() so comment out setupLogger() (https://code.google.com/p/hrpsys-base/issues/detail?id=195)
- rtm.py : add debug messages if function called without initCORBA ()https://code.google.com/p/hrpsys-base/issues/detail?id=173
hrpsys
- add sample programs
- PA10

roslaunch hrpsys pa10.launch
rosrun hrpsys pa10-jointangle.py

SampleRobot

roslaunch hrpsys samplerobot.launch
rosrun hrpsys samplerobot-walk.py

HRP-4C

roslaunch hrpsys hrp4c.launch
rosrun hrpsys hrp4c-motion.py
use rosrun hrpsys hrp4c_model_downlaod.sh to get information to download HRP4C model file

/opt/ros/hydro/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.wrl cannot be found.

I confirmed this happens on 2 different Hydro machines, only on simulators.

$ rtmlaunch nextage_ros_bridge nextage_ros_bridge_simulation.launch 
:
respawning...
[hrpsys-3] restarting process
process[hrpsys-3]: started with pid [5346]
loading file:///opt/ros/hydro/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.wrl
/opt/ros/hydro/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.wrl cannot be found.
Retrying to load the file as a standard VRML file
/opt/ros/hydro/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.wrl cannot be found.
loading failed.
/opt/ros/hydro/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.wrl cannot be found.
/opt/ros/hydro/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.wrl cannot be found.
omniORB: ERROR -- A servant has been deleted that is still activated.
      id: root<7> (active)
respawning...
[hrpsys-3] restarting process
:

Versions.

$ dpkg -p ros-hydro-openhrp3 ros-hydro-hrpsys ros-hydro-rtmros-common ros-hydro-rtmros-hironx ros-hydro-rtmros-nextage|grep Vers
Version: 3.1.7-3precise-20150213-1403-+0000
Version: 315.3.0-1precise-20150311-1614-+0000
Version: 1.2.4-1precise-20140921-1446-+0000
Version: 1.0.24-0precise-20140921-1938-+0000
Version: 0.6.1-0precise-20150311-1850-+0000

$ find /opt/ros -iname longfloor.wrl
/opt/ros/hydro/share/OpenHRP-3.1/sample/model/longfloor.wrl

Doesn't happen with Trusty-Indigo.

$ dpkg -p ros-indigo-openhrp3 ros-indigo-hrpsys ros-indigo-rtmros-common ros-indigo-rtmros-hironx ros-indigo-rtmros-nextage|grep Vers
Version: 3.1.7-15trusty-20150213-1223-+0000
Version: 315.3.0-1trusty-20150311-1141-+0000
Version: 1.2.8-0trusty-20150311-1229-+0000
Version: 1.0.28-0trusty-20150311-1244-+0000
Version: 0.6.0-0trusty-20150311-1247-+0000
$ find /opt/ros/ -iname longfloor.wrl
/opt/ros/indigo/share/OpenHRP-3.1/sample/model/longfloor.wrl

failed to copy idl and samples

I found build error

http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/rtm-ros-robotics/BUILD_TOOL=catkin,DEBIAN_REPOSITORY=ros,FULL_SOURCE=full_source,GITHUB_REPOSITORY=hrpsys,ROS_DISTRO=groovy,slave=ec2/lastBuild/console

Check if /home/jsk/ueda/dave_catkin_ws/src/rtm-ros-robotics/openrtm_common/hrpsys/build/hrpsys-base-source/idl/TimeKeeperService.idl exists
Check if /home/jsk/ueda/dave_catkin_ws/src/rtm-ros-robotics/openrtm_common/hrpsys/build/hrpsys-base-source/idl/VirtualForceSensorService.idl exists
  is not present
#
# copy idl
# mkdir -p /home/jsk/ueda/dave_catkin_ws/src/rtm-ros-robotics/openrtm_common/hrpsys/idl && cp -u /home/jsk/ueda/dave_catkin_ws/src/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/idl/* ./idl/
touch installed
copy binary files 
mv: cannot stat `/home/jsk/ueda/dave_catkin_ws/devel/share/hrpsys/idl': No such file or directory
mv: cannot stat `/home/jsk/ueda/dave_catkin_ws/devel/share/hrpsys/samples': No such file or directory
copy shared files 
CMake Error at rtm-ros-robotics/openrtm_common/hrpsys/catkin.cmake:45 (message):
  Copy hrpsys/share failed: 1
Call Stack (most recent call first):
  rtm-ros-robotics/openrtm_common/hrpsys/CMakeLists.txt:2 (include)


-- Configuring incomplete, errors occurred!
Invoking "cmake" failed

re-build hrpsys-base-source directories

I modified some codes in hrpsys-base-source directory and I'd like to build and use it in hydro/catkin environment.

I tried

cd ros/hydro/build/rtm-ros-robotics/openrtm_common/hrpsys
rm installed
make

However, no build process seemed to be executed and devel/lib/hrpsys was not updated.

How can I run build of hrpsys?

I also switch to hrpsys-base trunk source repository by modifying Makefile.hrpsys-base.
How can I re-build hrpsys to use hrpsys-base trunk by this modification?

pa10のシミュレーションをするとTorqueController input is not correctが大量に出る

例えば rtmlaunch hrpsys_tutorials/launch pa10.launch でおこります．@orikuma
RobotHardware(に相当する部分）でtauが出ていなかったらtaque系を使わない，というふうにhrpsys_config.pyを直すでしょうか？
また表示が速すぎるので対応したパッチを作りました確認して下さい．
https://gist.github.com/k-okada/9302492

Request for updating to ``315.2.4``

@130s ,
Could you update hrpsys-base revision again from 315.2.3 to 315.2.4?
I'd like to use the latest hrpsys-base merged at:
fkanehiro/hrpsys-base@bbb1c64
fkanehiro/hrpsys-base@5067576
...etc

(I created this request according to discussion in #99.)

How to enable hrpsys' collision detection

If there's a (even rough) document, I'll be happy to put together a tutorial somewhere.

hrpsys-base moved to github

https://github.com/fkanehiro/hrpsys-base

Move samples/README.md to upstream hrpsys-base

Recently, some ros-relevant files are moved to hrpsys-base[1].
What do you think about to move sample's README.md[2], which was located in the same directory as moved sample codes?

[1] https://github.com/fkanehiro/hrpsys-base/tree/master/launch
[2] https://github.com/start-jsk/hrpsys/tree/master/samples

Build failing on Arch Linux

When packaging hrpsys on Arch Linux, I found 2 errors:

there are attemps to link with boost_*-mt. However, the -mt suffix has been removed for years in several Linux distributions now (it was just a symlink AFAIK). I currently use this patch: bchretien@ce795ae
qhull include structure evolved a few years ago. qhull/qhull.h became libqhull/libqhull.h. I guess you could use a different FindQhull.cmake (e.g. this one found in geometric_shapes). I currently use this patch: bchretien@cf31247
Python files are installed to dist-packages, however this is Debian-specific and should be site-packages for all non-Debian-based distributions.

This may also concern Fedora (cc @cottsay). Now the build completes, and I will try to make some run-time tests before making a PR.

Release 315.2.6

One motive is to include #117 that's required in downstream start-jsk/rtmros_gazebo#111

release 315.2.5

start-jsk/rtmros_hironx#215 needs this release

Cannot run hrpsys example from deb

I could not run hrpsys example from start-jsk/hrpsys system.

For source environment, this example can be executed.

$ rtmlaunch hrpsys samplerobot.launch
$ rosrun hrpsys samplerobot-data-logger.py

For deb-installed environment, this example cannot be executed because of these errors:

rosrun hrpsys samplerobot-data-logger.py
configuration ORB with  nozawa-HP-Z620-Workstation2 : 15005
[hrpsys.py]  waiting ModelLoader
[hrpsys.py]  start hrpsys
[hrpsys.py]  finding RTCManager and RobotHardware
[hrpsys.py]  wait for RTCmanager :  None
[hrpsys.py]  wait for SampleRobot(Robot)0  :  <hrpsys.rtm.RTcomponent instance at 0x31dfcb0> (timeout  0  < 10)
[hrpsys.py]  findComps -> RobotHardware :  <hrpsys.rtm.RTcomponent instance at 0x31dfcb0> isActive? =  True
[hrpsys.py]  simulation_mode :  True
[hrpsys.py]    bodyinfo URL = file:///opt/ros/hydro/share/OpenHRP-3.1/sample/model/sample1.wrl
Traceback (most recent call last):
  File "/opt/ros/hydro/share/hrpsys/samples/samplerobot-data-logger.py", line 25, in <module>
    samplerobot_data_logger.demo()
  File "/opt/ros/hydro/share/hrpsys/samples/../share/hrpsys/samples/SampleRobot/samplerobot_data_logger.py", line 23, in demo
    init()
  File "/opt/ros/hydro/share/hrpsys/samples/../share/hrpsys/samples/SampleRobot/samplerobot_data_logger.py", line 20, in init
    hcf.init ("SampleRobot(Robot)0", "/opt/ros/hydro/share/OpenHRP-3.1/sample/model/sample1.wrl")
  File "/opt/ros/hydro/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 1505, in init
    self.sensors = self.getSensors(url)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 536, in getSensors
    self.getBodyInfo(url)._get_links())), [])  # sum is for list flatten
  File "/opt/ros/hydro/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 527, in getBodyInfo
    return mdlldr.getBodyInfo("file://" + url)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/hrpsys/ModelLoader_idl.py", line 700, in getBodyInfo
    return _omnipy.invoke(self, "getBodyInfo", _0_OpenHRP.ModelLoader._d_getBodyInfo, args)
OpenHRP.ModelLoaderException: OpenHRP.ModelLoader.ModelLoaderException(description='/opt/ros/hydro/share/OpenHRP-3.1/sample/model/sample1.wrl cannot be found.')

Maybe, OPENHRP_DIR should be /opt/ros/hydro/share/openhrp3/share/OpenHRP-3.1.

not to pollute src directory of hrpsys during catkin_make

moved from start-jsk/rtmros_common#310

Comment:
hrpsys_ros_bridge's compile_robot_model.cmake uses hrpsys/ProjectGenerator in compile time. this patch breaks it.

Decide policy for Development and Stable versions

Moved from start-jsk/openhrp3#43

By the way, how do we cope with start-jsk/hrpsys#75, they want to start using trunk version of hrpsys.

One idea is to create groovy branch on rtmros_common and stop developing/releasing and using hrpsys 315.1.x and hydro branch is continue developing on trunk (315.2.x), but this means hironx users must use groovy, so it may not acceptable.

Another idea is to create stable(315.1.x) branch on rtmros_common and only stable branch is released and deb build. This means main/core users never uses deb package. Also I afraid I mostly working on developing release so it just make you much more busy.

Another approach is to release rtmros_common and rtmros_comon_devel ?

Ideal approach is to update QNX software to 315.2.x but it may most difficult among above idea.

setTargetPoseRelative not allowing interruption

For instance, run the following 2 commands on ipython terminal back to back without intervals (in particular, notice wait is False). But even though In [59] was returned already on the terminal but arms still moving, looks like In [60] waits for 59 to be done. Once the arm finished moving with 59, 60 finally starts.

Is it an intended behavior? If so, is there a way to interrupt the previous command and get the new one in action?

$ ipython -i `rospack find hironx_ros_bridge`/scripts/hironx.py
:
In [59]: robot.setTargetPoseRelative('larm', 'LARM_JOINT5', dz=-0.09, tm=30, wait=False)
[ 0.32550744  0.18235837  1.0746411 ] [-3.00137594 -1.56900497  3.00122438]
larm None [0.32550744094851297, 0.18235836592382365, 1.0746410958495576] [-3.0013759431884734, -1.5690049671364696, 3.0012243844015924] 30
Out[59]: True

In [60]: robot.setTargetPoseRelative('larm', 'LARM_JOINT5', dz=0.05, tm=2, wait=False)
[ 0.32548581  0.18235465  1.1246795 ] [-2.99326423 -1.56900659  2.99311658]
larm None [0.32548580932689786, 0.18235465271583126, 1.1246795017865097] [-2.9932642260633484, -1.5690065854538964, 2.9931165765312784] 2
Out[60]: True

@emijah

!!!CAUTION!!! hrpsys release 315.2.1 is invalid

due to ros/rosdistro#4763 (comment), current shadow-fixed release of hrpsys (315.2.1) is invalid, that is not include hrpsys-simulator.

dpkg -S ros-hydro-hrpsys | grep hrpsys-simu

This is fixed in https://github.com/start-jsk/hrpsys/pull/91/files and added test code to check if hrpsys-simulator and other rtc is actually compiled #92

Release 315.1.8

There's an issue in hironx_ros_bridge that is kind of urgent and can get solved by this commit in hrpsys-base. I'm just waiting for "GO".

rosbuildでhrpsysがmakeされない。

groovy/rosbuildの環境でhrpsysをmakeしたら
コンパイルされずにすぐ抜けてしまいます。

@garaemon に見てもい

export PKG_CONFIG_PATH=`rospack find openhrp3`/lib/pkgconfig:${PKG_CONFIG_PATH}

これをやったらできました。

pkg-configのパスにopenhrpが入っていないのが問題です。

315.1.8 source build fails locally

Using 9e9818f, catkin fails on both Groovy and Hydro. Is now not a good time to build?

$ catkin_make
:
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- catkin 0.5.85
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 1 packages in topological order:
-- ~~  - hrpsys
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'hrpsys'
-- ==> add_subdirectory(hrpsys)
CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:72 (find_package):
  Could not find a configuration file for package openrtm_aist.

  Set openrtm_aist_DIR to the directory containing a CMake configuration file
  for openrtm_aist.  The file will have one of the following names:

    openrtm_aistConfig.cmake
    openrtm_aist-config.cmake

Call Stack (most recent call first):
  hrpsys/catkin.cmake:6 (find_package)
  hrpsys/CMakeLists.txt:2 (include)


CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:72 (find_package):
  Could not find a configuration file for package openhrp3.

  Set openhrp3_DIR to the directory containing a CMake configuration file for
  openhrp3.  The file will have one of the following names:

    openhrp3Config.cmake
    openhrp3-config.cmake

Call Stack (most recent call first):
  hrpsys/catkin.cmake:6 (find_package)
  hrpsys/CMakeLists.txt:2 (include)

$ dpkg -p ros-hydro-openrtm-aist|grep Ver
Version: 1.1.0-0precise-20140228-2212-+0000
$ dpkg -p ros-hydro-openhrp3|grep Ver
Version: 3.1.5-1precise-20140228-2219-+0000

catkin_make --only-pkg-with-deps hrpsys

すると

make[3]: *** No rule to make target `/usr/lib/x86_64-linux-gnu/libGL.so', needed by `lib/libhrpsysUtil.so'.  Stop.
make[3]: *** Waiting for unfinished jobs....

と言われて make が通らなかったのですが， http://techtidings.blogspot.jp/2012/01/problem-with-libglso-on-64-bit-ubuntu.html にあるように，libGL.soのシンボリックリンクが壊れているのが原因で，

cd /usr/lib/x86_64-linux-gnu
ls -l libGL.so            ;; mesa/libGL.so を指している
ls -l mesa/libGL.so  ;; libGL.so.1 を指している
ls -l libGL.so.1         ;; 実体がない

すると libGL.so.1の実体がないことがわかるので，

sudo ln -sf /usr/lib/libGL.so.1 /usr/lib/x86_64-linux-gnu/libGL.so

としてから，

cd ~/ros/hydro
rm -rf build/rtm-ros-robotics/openrtm_common/hrpsys/
catkin_make --only-pkg-with-deps hrpsys

したら無事に通りました．

Source install doesn't download newer code

For example, catkin_make-ing using this commit doesn't download this commit r990 from hrpsys upstream. Clean installation doesn't make any difference.

Is there now any limitation to download the commits only up to certain commits, like a released version? The last release, 315.1.7, was made way earlier than the commit above.

add more sample programs

extending #64, it would be nice if we can add more example on

walking
auto balancing
collision checking

start-jsk / hrpsys Goto Github PK

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Btw is this repository still in use for releasing ROS .deb?

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