$ git clone --recursive https://github.com/ayuguchi/docker-lipm_walking_controller.git
$ cd ros/lipm_walking_controller
$ git submodule update --init cmake/

$ docker-compose build

$ docker-compose run ros bash

$ mkdir -p ~/.config/mc_rtc/
$ nano ~/.config/mc_rtc/mc_rtc.yaml

{
 "MainRobot": "JVRC1",
 "Enabled": ["LIPMWalking"]
}

$ roslaunch mc_rtc_ticker display.launch

(open a new terminal)
$ docker exec -it ${CONTAINER} bash 
$ cd /usr/share/hrpsys/samples/JVRC1
$ ./clear-omninames.sh
$ choreonoid --start-simulation sim_mc.cnoid