ROS Integration

• Choreonoid and ROS Integration
• Installing ROS
  • Installing a ROS Distribution
  • Installing Catkin Tools
• Building Choreonoid-related Packages
  • Creating a Catkin Workspace
  • Adding Package Sources
  • Using Repository Management Tools
  • Installing Dependencies
  • Setting CMake Options
    • Note on Python Version
  • Setting the Build Type
  • Building
  • Loading the Workspace Setup Script
  • Supplement: Using Multiple Choreonoid Environments Together
• Running Choreonoid in the ROS Environment
  • Starting the ROS Master
  • Starting Choreonoid
  • Running a Sample Project
    • Troubleshooting: When roslaunch Fails to Execute
    • Note: About Gamepad Mapping
    • roslaunch Execution Details
• Using Catkin Profile Features
  • Profile Feature
  • Basic Profile Operations
  • Running Outputs from Specific Profiles
  • Integration with Debuggers
• ROS Plugin
  • What is the ROS Plugin?
  • Loading the ROS Plugin
  • roscpp Initialization by the ROS Plugin
• ROS Tank Tutorial
  • Preparation
    • Setting Up ROS and Choreonoid-related Packages
    • Creating a Tutorial Package
    • Editing package.xml
    • Package File Structure
    • Starting the ROS Master
    • Launching a Work Terminal
  • Step 1: Controlling Tank by Subscribing to the Joy Topic
    • Starting the Choreonoid Node
    • Creating a Simulation Project
    • Preparing the Gamepad
    • Transmitting Gamepad State via Joy Node
    • Choreonoid Version Joy Node
    • Building the Controller
    • Introducing the Controller
    • Running the Simulation and Controlling the Tank Robot with the Gamepad
    • Checking Joy Topic Connection Status
    • Introducing a Launch File
    • Source Code Explanation
    • Note: Confirming ROS Environment Execution
  • Step 2: Publishing Tank State Output via JointState Topics
    • Overview
    • State Output Controller
    • Basic Structure of the State Output Controller
    • Creating a Node Handle
    • Creating a Publisher
    • Publishing Joint States
    • Introducing the State Output Controller
    • Verifying Topic Output
    • Displaying Joint Angle Graphs
  • Step 3: Displaying Tank State by Subscribing to JointState Topics
    • Overview
    • Creating a State Visualization Choreonoid Project
    • Introducing the State Visualization Controller
    • Running the Simulation & Visualization Projects
    • Creating a Launch File
    • Source Code Explanation
  • Step 4: Outputting Acceleration Sensor and Rate Gyro States
    • Overview
    • Sensor Value Output Controller
    • sensor_msgs/Imu Type Messages
    • Obtaining Sensor Devices
    • Obtaining Sensor State Values
    • Publishing Sensor Values
    • Introducing the Controller
    • Verifying Output Topics
    • Displaying Acceleration and Angular Velocity Graphs
  • Step 5: Enhancing Tank State Display by Subscribing to Sensor Information Topics
    • Overview
    • Sensor State Acquisition Controller
    • Introducing the Sensor State Acquisition Controller
    • Displaying Sensor State Values with Body State View
    • Collision Behavior
    • Introducing the Sensor Visualizer Item
    • Source Code Explanation
• ros_control Integration Tank Tutorial
  • Preparation
    • Setup of ROS and Choreonoid Related Packages
    • Downloading and Building cnoid_tank_pkgs
  • Execution
    • Startup
    • Simple ROS Integration
    • And More…?