RTC component to encapsulate the SoT on HRP2

This RTC component will load a dynamic library containing all the control algorithms to generate motion for a humanoid robot.

Prerequisite

We assume that

• your machine is running ubuntu-10.04,
• ros-electric-desktop-full is installed in /opt/ros/electric (via apt-get),
• ros-electric-ros-realtime is installed in /opt/ros/electric,
• ros-electric-pr2-mechanism is installed in /opt/ros/electric,
• environment variable DEVEL_DIR should contain an existing directory.
• environment variable PKG_CONFIG_PATH should contain /opt/grx/lib/pkgconfig

The following packages should be installed in $DEVEL_DIR/install

• jrl-mathtools,
• jrl-mal,
• abstract-robot-dynamics,
• jrl-dynamics,
• jrl-walkgen,
• hrp2-14,
• hrp2-10,
• hrp2-dynamics,
• hrp2-10-optimized,
• dynamic-graph,
• dynamic-graph-python,
• sot-core,
• sot-dynamics
• sot-patterngenerator,
• sot-hrp2.

The following ROS stacks should be installed in $DEVEL_DIR/stacks

• hrp2
• redundant_manipulator_control

To install

    mkdir _build-RELEASE
    cd _build-RELEASE
    cmake -DCMAKE_INSTALL_PREFIX=$DEVEL_DIR/install -DCMAKE_BUILD_TYPE=RELEASE -DROBOT=$ROBOT ..
    make
    sudo chmod 777 /opt/grx/lib
    make install

where $ROBOT is HRP2LAAS or HRP2JRL.

Setting the environment variables for the component alone

1. Make sure that your robot library can be loaded by the component. For that, your LD_LIBRARY_PATH should include $DEVEL_DIR/install/lib/plugin and $DEVEL_DIR/install/lib. Check that libsot-hrp2-14-controller.so (or libsot-hrp2-10-controller.so) is in this latter directory.

2. Make sure that $DEVEL_DIR/install/lib/python2.6/site-packages is in your PYTHONPATH to access SoT scripts.

Setting the environment variables for and the component inside a hrpsys graph

At the end of file /opt/grx/$ROBOT/bin/config.sh, you should source the following config.sh

    $DEVEL_DIR/config.sh

Be aware that the RTC component resets environment variables. Therefore, the above DEVEL_DIR should be expanded by hand.

The above file should contain the following lines

    export ROS_ROOT=/opt/ros/electric/ros
    export PATH=$ROS_ROOT/bin:$PATH
    export PYTHONPATH=$PYTHONPATH:$ROS_ROOT/core/roslib/src:/opt/grx/HRP2LAAS/script
    export ROS_MASTER_URI=http://localhost:11311

Running the component (with GRX software)

1. Make sure than ROS is running in a terminal by launching:

   roscore
   

2. if you are doing simulation launch the simulator (Grx 3.1 simulator for HRP2) and the simulation,

3. launch /opt/grx/$ROBOT/script/guisot.py,

4. Click on setup rt-system,

5. rosrun dynamic_graph_bridge run_command

6. initialize your control graph

7. click on Start SoT

Introspection tools for the RTC component

You need to install

• rtctree: [email protected]:gbiggs/rtctree.git,

• rtshell: [email protected]:gbiggs/rtshell.git

    rtcat /localhost/sot.rtc 
  

will give you the state of the Stack of Task RTC component.

If you want to see the command:

    rtprint /localhost/sot.rtc:qRef

To check the format of the port:

    rtcat -l /localhost/sot.rtc:qRef