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mc_rtc_tutorial_controller's Introduction

mc_rtc_tutorial_controller

チュートリアル　https://jrl-umi3218.github.io/mc_rtc/tutorials/introduction/first-controller.html を元に作った物 チュートリアル内容やいじって勉強したものごとにブランチを分けていく(予定)

Requirement

rosのバージョンごとに異なる（今回はmelodic環境） 以下が必要 https://github.com/jrl-umi3218/mc_rtc_ros

詳しくは https://jrl-umi3218.github.io/mc_rtc/tutorials/introduction/installation-guide.html　 を参照の事

Installation

https://jrl-umi3218.github.io/mc_rtc/tutorials/introduction/installation-guide.html

Usage

/buildに移動
$ cd build
cmakeする
$ cmake ../ -DCMAKE_BUILD_TYPE=RelWithDebInfo
makeする
$ make
インストール
$sudo make install 

デモの実行
$ roscore
別ウインドウで
$ roslaunch mc_rtc_ticker display.launch
別ウインドウで
$ rosrun mc_rtc_ticker mc_rtc_ticker

うまく行かないなら、~/.config/mc_rtc/mc_rtc.yamlをみてみる

{

"MainRobot": "JVRC1", "Enabled": ["MyFirstController"] }

になってるか確認

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