hlab-nxo-setup

対応状況

⇐これが緑色になっているとき、以下の環境でテスト済み。

単体

GRASP_PLUGINS="Grasp;PRM;GeometryHandler;ConstraintIK;SoftFingerStability;PCL;GraspDataGen;MotionFile"
GRASP_ROBOT_MODEL_PLUGINS='HIRO/Plugin'

Ubuntu 20.04とmasterブランチのChoreonoidとの組み合わせでビルド可

graspPlugin + RobotInterface + rtmros_nextage

	noetic	melodic	kinetic	indigo
Choreonoid v1.7.0	※	✅	✅	✅
Choreonoid v1.6.0	※	✅	✅	✅
Choreonoid v1.5.0	※	✅	✅	✅

※ビルド可, rtshell非対応

How to use

Nextage, ROS, OpenRTP

1. Clone this recursively git clone https://github.com/kazuki0824/hlab-nxo-setup.git --depth 1 --recursive
2. Enter externals/, and then run sudo apt install curl -y &&./install_RTP.sh
3. Install ROS1 by following this instruction
4. Enter overlay_ws/, and run ROS_DISTRO=<your_distro> ./setup_rtmros_ws.sh
5. source $HOME/.preinstalled/setup.bash

Build choreonoid, graspPlugin

1. Move the current directory to the location where hlab-nxo-setup is located. (i.e., out of 'hlab-nxo-setup')
2. Install wget from apt. sudo apt install wget
3. Clone the graspPlugin repository in the same directory where hlab-nxo-setup is located. At this time, the name of the cloned directory should be 'grasp-plugin'.
4. Run hlab-nxo-setup/setup_choreonoid.sh <tag_name_of_cnoid>. The tested <tag_name_of_cnoid> value sets are v1.7.0, v1.6.0, and v1.5.0.

Get ready

After all the components above are installed, run the following. 1.

sudo apt install cmake-qt-gui gnome-terminal dbus-x11 -y

function connect_rtc() {
    source `rospack find rtshell`/bash_completion
    #rtcwd /localhost
    host=/localhost:2809/${HOSTNAME}.host_cxt
    rtcon $host/HiroNXGUI0.rtc:HiroNX $host/PortDuplicator0.rtc:HiroNX
    rtcon $host/HiroNXGUI0.rtc:HIRO $host/PortDuplicator0.rtc:HIRO
    rtcon $host/ArmController0.rtc:HiroNX $host/PortDuplicator0.rtc:HiroNX
    rtcon $host/ArmController0.rtc:HIRO $host/PortDuplicator0.rtc:HIRO
    rtcon $host/PortDuplicator0.rtc:HiroNX0 $host/HiroNXProvider0.rtc:HiroNX
    rtcon $host/PortDuplicator0.rtc:HIRO0 $host/HiroNXProvider0.rtc:HIRO
    rtcon $host/PortDuplicator0.rtc:HiroNX1 $host/HandManipProvider0.rtc:HiroNX
    rtcon $host/PortDuplicator0.rtc:HIRO1 $host/HandManipProvider0.rtc:HIRO
    rtact $host/HiroNXGUI0.rtc $host/HiroNXProvider0.rtc $host/ArmController0.rtc $host/PortDuplicator0.rtc $host/HandManipProvider0.rtc
}

This is the bash function to connect all the RT components automatically.

rtm-naming
gnome-terminal --window -e "bash -c \"sleep 3; ./hlab-nxo-setup/externals/eclipse/eclipse -debug -console; exec bash\"" \
--tab -e "bash -c \" ./build-choreonoid/bin/choreonoid; exec bash\"" \
--tab -e "bash -c \" ./choreonoid/ext/graspPlugin/RobotInterface/Nextage/THK/HandManipProvider.py; exec bash\"" \
--tab -e "bash -c \" ./choreonoid/ext/graspPlugin/RobotInterface/Nextage/PortDuplicator/PortDuplicator.py; exec bash\"" \
--tab -e "bash -c \" cd ./choreonoid/ext/graspPlugin/RobotInterface/Nextage/NextageInterface; ./HiroNXProvider.py;exec bash\"" \
--tab -e "bash -c \" ./hlab-nxo-setup/externals/hironx-interface/HiroNXInterface/HiroNXGUI/WxHiroNXGUI.py; exec bash\"" 
connect_rtc

How to use (Docker)

Use a pre-built image

1. Run the following to establish the container

xhost +local:user && \
docker run --rm --pull always --gpus all -it -e DISPLAY=unix$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix ghcr.io/kazuki0824/hlab-nxo-setup:melodic && \
xhost -local:user

git clone http://spica.ms.t.kanazawa-u.ac.jp/gitlab/tsuji/grasp-plugin.git --depth 1  -b fix_compatibility_2004_2204 && \
hlab-nxo-setup/setup_choreonoid.sh

function connect_rtc() {
    source `rospack find rtshell`/bash_completion
    #rtcwd /localhost
    host=/localhost:2809/${HOSTNAME}.host_cxt
    rtcon $host/HiroNXGUI0.rtc:HiroNX $host/PortDuplicator0.rtc:HiroNX
    rtcon $host/HiroNXGUI0.rtc:HIRO $host/PortDuplicator0.rtc:HIRO
    rtcon $host/ArmController0.rtc:HiroNX $host/PortDuplicator0.rtc:HiroNX
    rtcon $host/ArmController0.rtc:HIRO $host/PortDuplicator0.rtc:HIRO
    rtcon $host/PortDuplicator0.rtc:HiroNX0 $host/HiroNXProvider0.rtc:HiroNX
    rtcon $host/PortDuplicator0.rtc:HIRO0 $host/HiroNXProvider0.rtc:HIRO
    rtcon $host/PortDuplicator0.rtc:HiroNX1 $host/HandManipProvider0.rtc:HiroNX
    rtcon $host/PortDuplicator0.rtc:HIRO1 $host/HandManipProvider0.rtc:HIRO
    rtact $host/HiroNXGUI0.rtc $host/HiroNXProvider0.rtc $host/ArmController0.rtc $host/PortDuplicator0.rtc $host/HandManipProvider0.rtc
}

rtm-naming
gnome-terminal --window -e "bash -c \"sleep 3; ./hlab-nxo-setup/externals/eclipse/eclipse -debug -console; exec bash\"" \
--tab -e "bash -c \" ./build-choreonoid/bin/choreonoid; exec bash\"" \
--tab -e "bash -c \" ./choreonoid/ext/graspPlugin/RobotInterface/Nextage/THK/HandManipProvider.py; exec bash\"" \
--tab -e "bash -c \" ./choreonoid/ext/graspPlugin/RobotInterface/Nextage/PortDuplicator/PortDuplicator.py; exec bash\"" \
--tab -e "bash -c \" cd ./choreonoid/ext/graspPlugin/RobotInterface/Nextage/NextageInterface; ./HiroNXProvider.py;exec bash\"" \
--tab -e "bash -c \" ./hlab-nxo-setup/externals/hironx-interface/HiroNXInterface/HiroNXGUI/WxHiroNXGUI.py; exec bash\"" 
connect_rtc

Build the Image

cd hlab-nxo-setup
docker build . --build-arg DISTRIBUTION=<your_distro_name> -t grasp_img

First time

xhost +local:user && \
docker run --name grasp --gpus all -it -e DISPLAY=unix$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix grasp_img && \
xhost -local:user

3. Inside a container, run git clone http://spica.ms.t.kanazawa-u.ac.jp/gitlab/tsuji/grasp-plugin.git -b <branch> and enter your credential.
4. Modify setup_choreonoid.sh.

   hlab-nxo-setup/setup_choreonoid.sh

   Lines 5 to 6 in de4e6b0

   	export GRASP_PLUGINS="Grasp;PRM;GeometryHandler;RobotInterface;ConstraintIK;SoftFingerStability;PCL;GraspDataGen;MotionFile"
   	export GRASP_ROBOT_MODEL_PLUGINS='HIRO/Plugin'

hlab-nxo-setup/setup_choreonoid.sh <tag>

6. Exit the container.

To build Choreonoid manually, follow this.

Later

docker start grasp && \
xhost +local:user && \
docker exec -it -e DISPLAY=unix$DISPLAY grasp /rtm_entrypoint.sh bash && \
xhost -local:user && \
docker stop grasp

And then run:

gnome-terminal --window -e "bash -c \"sleep 3; ./hlab-nxo-setup/externals/eclipse/eclipse -debug -console; exec bash\"" \
--tab -e "bash -c \" ./build-choreonoid/bin/choreonoid; exec bash\"" \
--tab -e "bash -c \" ./choreonoid/ext/graspPlugin/RobotInterface/Nextage/THK/HandManipProvider.py; exec bash\"" \
--tab -e "bash -c \" ./choreonoid/ext/graspPlugin/RobotInterface/Nextage/PortDuplicator/PortDuplicator.py; exec bash\"" \
--tab -e "bash -c \" cd ./choreonoid/ext/graspPlugin/RobotInterface/Nextage/NextageInterface; ./HiroNXProvider.py;exec bash\"" \
--tab -e "bash -c \" ./hlab-nxo-setup/externals/hironx-interface/HiroNXInterface/HiroNXGUI/WxHiroNXGUI.py; exec bash\"" 
connect_rtc

Testing

To test the operation of HiroNXProvider/HiroNXGUI on a simulation instead of connecting to the actual device, perform the following steps. This changes which machine the RobotInterface tries to connect to.

echo 'HiroNX(Robot)0' > ./choreonoid/ext/graspPlugin/RobotInterface/Nextage/NextageInterface/.robotname
echo localhost:15005 > ./choreonoid/ext/graspPlugin/RobotInterface/Nextage/NextageInterface/.robothost

After this, you can control the simulated robot in the hrpsys-simulator through HiroNXGUI and RobotInterface plugin.