Cooperation with ROS

• Cooperation between Choreonoid and ROS
• Installing ROS
  • Install a ROS distribution
  • Install Catkin Tools
  • Installation of rosdep on Ubuntu 20.04 (ROS Noetic Ninjemys)
• Building Choreonoid related packages
  • Create a Catkin workspace
  • Add package sources
  • Using the repository management tool
  • Installing dependent packages
  • Setting CMake options
    • Setting the Python version
  • Set the build type
  • Build
  • Loading the workspace setup script
  • Tip: About using multiple Choreonoid environments together
• Running Choreonoid in the ROS environment
  • Starting the ROS master
  • Starting Choreonoid
  • Running a sample project
    • Tip: What to do if the execution of roslaunch fails?
    • Tip: About gamepad mapping
    • What roslaunch does
• ROS Plugin
  • What is the ROS plugin?
  • Loading the ROS plugin
  • Initializing roscpp with the ROS plugin
• Tank Tutorial for ROS
  • Preparation
    • Setup of ROS and Choreonoid related packages
    • Creating a package for the tutorial
    • Editing package.xml
    • File structure of the package
    • Starting the ROS master
    • Start the working terminal
  • Step 1: Control Tank by subscribing to Joy topic
    • Starting the Choreonoid node
    • Creating a simulation project
    • Preparing the gamepad
    • Sending gamepad status by joy node
    • Choreonoid version joy node
    • Building the controller
    • Introducing the controller
    • Running the simulation and controlling the Tank robot with the gamepad
    • Checking the Joytopic connection status
    • Introducing a launch file
    • Source code description
    • Tip: Make sure you are running in a ROS environment.
  • Step 2: Publish the JointState topic to output the state of Tank
    • Overview
    • Controller for state output
    • Basic structure of the controller for state output
    • Creating a node handle
    • Creating a publisher
    • Publishing a joint state
    • Introducing a controller for state output
    • Check the output topic
    • Displaying joint angle graph
  • Step 3: Subscribe to the JointState topic to display the state of Tank
    • Overview
    • Creating a Choreonoid project for state visualization
    • Introducing a controller for state visualization
    • Running the simulation & visualization project
    • Creating the launch file
    • Source code description
  • Step 4: Output the state of the acceleration sensor and rate gyro
    • Overview
    • Controller for outputting sensing values
    • sensor_msgs/Imu type message
    • Getting the sensor device
    • Obtaining sensor state values
    • Publishing sensing values
    • Introducing the controller
    • Checking the output topics
    • Displaying acceleration / angular velocity graph
  • Step 5: Enhance the Tank state display by subscribing to sensor information topic
    • Overview
    • Controller for obtaining sensor states
    • Introducing the controller for obtaining sensor states
    • Displaying sensor state values by the body state view
    • Action on collision
    • Introducing the sensor visualizer item
    • Source Code Description