jsk_choreonoid

Introduction

This is a ros packge of choreonoid plugin for controlling humanoid robots.
jsk_choreonoid contains several controller: Multi Contact Stabilizer, Resolved Momentum Control, and Preview Control etc.

Requirements

1. ros indigo or later
2. choreonoid

Install

Go to ros workspace
Clone https://github.com/kindsenior/choreonoid and this package
catkin build jsk_choreonoid --force-cmake

Usage

First, see [choreonoid tutorials](http://choreonoid.org/en/manuals/ or http://choreonoid.org/ja/manuals/)

• Sample of the multi contact stabilizer

1. run choreonoid with project file

$ roscd jsk_choreonoid/sample/WalkSample/
$ choreonoid JAXON_RED_Walk.cnoid

1. select a poseseq item in Item Tree View
2. push "MCS" button
3. push "RMC" button
4. select a motion item in Item Tree View
5. push play button

• Sample of the slide friction control (support jump motions)

1. run choreonoid with project file

$ roscd jsk_choreonoid/sample/JumpSample/
$ choreonoid JAXON_RED_Jump.cnoid

1. select a poseseq item in Item Tree View
2. push "CC" button
3. push "RMC" button
4. select a motion item
5. push play button
6. export optional hrpsys sequence file (push "export" button)
7. export hrpsys sequence files (select the motion item and File->Export Selected Items)
8. send the exported hrpsys sequence files to hrpsys-base by load-pattern service

• Sample of the preview control

1. run choreonoid with project file

$ roscd jsk_choreonoid/sample/WalkSample/
$ choreonoid JAXON_RED_Walk.cnoid

1. select a poseseq in Item Tree View
2. push PreviewControl button
3. select a motion item
4. push play button