|Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.|
Using EusLisp (roseus) to control rtmtros robotsDescription: This tutorial shows how to use roseus to control robots. This tutorial is basic level so it is not specific to rtmros-common robot, it also covers PR2, Nao, HRP2 users
Tutorial Level: BEGINNER
Next Tutorial: Using Euslisp(roseus) to control robot behavior through perception
- Install related software
- Using simulated robots from Euslisp
- Running hrpsys-base-related simulation tutorials
Install related software
Install from deb
sudo apt-get install ros-hydro-roseus ros-hydro-roseus-msgs
Trouble shooting in installation (for roseus)
If you have already source of jsk-ros-pkg related packages, please remove or move these directories. For example,
rm -fr ~/ros/hydro/src/jsk-ros-pkg/jsk_roseus ~/ros/hydro/src/jsk-ros-pkg/jsk_pr2eus
Please specify your catkin workspace such as ~/ros/hydro/src including jsk_roseus and jsk_pr2eus repositories.
If you have already built these source repositories, please remove these. For example,
rm -fr ~/ros/hydro/build ~/ros/hydro/devel ~/ros/hydro/install
Trouble shooting in installation (for roseus-msgs)
If you have already roseus msg and srv files in home direcotry, please remove or move these directories. For example,
rm -fr ~/.ros/roseus/hydro
This is roseus msg and srv file directory generated on your PC. Please remove or move this.
cd ~/ros/hydro/src wstool set rtm-ros-robotics/rtmros_tutorials https://github.com/start-jsk/rtmros_tutorials.git --git wstool update rtm-ros-robotics/rtmros_tutorials cd .. catkin_make --force-cmake --only-pkg-with-deps hrpsys_ros_bridge_tutorials
Using simulated robots from Euslisp
This example is to explain Euslisp interface for rtmros system.
Launch a simulator that "mimic"s a real robot
The window named as "hrpsys viewer" is hrpsys-simulator, which is a robot simulator based on OpenHRP3 dynamics engine.
$ rtmlaunch hrpsys_ros_bridge samplerobot.launch USE_UNSTABLE_RTC:=true
Running Euslisp process
If you run this command, you can start Euslisp interpreter process:
$ roseus `rospack find hrpsys_ros_bridge`/euslisp/samplerobot-interface.l
Create instance for Euslisp-ROS interface
- If you execute this function on Euslisp command-line, you can inititalize Euslisp robot instance and Euslisp-ROS interface:
irteusgl$ (samplerobot-init) irteusgl$ (objects (list *sr*))On Euslisp process,
*sr*is a robot model instance for Euslisp, which is shown on Euslisp "IRT Viewer", and
*ri*is a robot interface, which is interface for ROS robot system (rtm-ros-robot-interface class in Euslisp). Users can access simulated robots or real robots through *ri*.
Move robot joint angles on simulation
- If you execute this command, joint angles of *sr* is changed and results of *sr* is displayed on "IRT Viewer":
irteusgl$ (send *sr* :reset-pose) irteusgl$ (send *irtviewer* :draw-objects)At this moment, a simulated robot do not move. If you want to reflect joint angles on Euslisp to the simulated robot, please execute this command:
irteusgl$ (send *ri* :angle-vector (send *sr* :angle-vector) 2000)
Access basic sensor values
- Sensor values or controller commands are stored to *ri* by using :state method:
irteusgl$ (send *ri* :state)In this method, spinOnce is called and subscribe topics related with sensor values or controller commands. After :state command execution, you can access these values from *ri*
- Actual joint angles, which is correspond to /joint_states/position in ROS system.
irteusgl$ (send *ri* :potentio-vector)
- Actual force and moment value, which is correspond to /rhsensor, /lfsensor, and so on. These values can be obtained in the case of robots which has force sensors.
;; All values are sensor frame local. irteusgl$ (send *ri* :off-force-vector) ;; force-vector for all sensors irteusgl$ (send *ri* :off-force-vector :rleg) ;; force-vector for right leg (:rleg) irteusgl$ (send *ri* :off-moment-vector) ;; moment-vector for all sensors
Running hrpsys-base-related simulation tutorials
This simulation example is Euslisp wrapper for hrpsys-base such as SampleRobot examples. start-jsk/hrpsys/samples is another examples for hrpsys-base. This examples are to use hrpsys-base python samples from roslaunch and rosrun.