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ishiguroJSK wants to merge 2 commits into from
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allow multi Choreonoid simulation #287

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8150a0d
add corbaport, managerport, USE_ROS arg
ishiguroJSK Aug 10, 2018
b0da719
enable ros_bridge functions
ishiguroJSK Aug 15, 2018
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2 changes: 2 additions & 0 deletions hrpsys_choreonoid/launch/ros_bridge_choreonoid.launch
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Expand Up @@ -6,6 +6,7 @@
<arg name="RUN_RVIZ" default="false" />

<arg name="corbaport" default="15005" />
<arg name="managerport" default="15006" />

<arg name="USE_WALKING" default="true" />
<arg name="USE_COLLISIONCHECK" default="false" />
Expand All @@ -28,6 +29,7 @@
<arg name="COLLADA_FILE" value="$(arg COLLADA_FILE)" />
<arg name="CONF_FILE" value="$(arg CONF_FILE)" />
<arg name="corbaport" default="$(arg corbaport)" />
<arg name="managerport" default="$(arg managerport)" />
<!-- unstable RTC -->
<arg name="USE_WALKING" value="$(arg USE_WALKING)" />
<arg name="USE_COLLISIONCHECK" value="$(arg USE_COLLISIONCHECK)" />
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24 changes: 12 additions & 12 deletions hrpsys_choreonoid/launch/run_choreonoid.sh
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Expand Up @@ -3,18 +3,18 @@
### choose choreonoid binary
choreonoid_exe='choreonoid'

if [ "$(pgrep -x ${choreonoid_exe} | wc -l)" != 0 ]; then
pkill -9 ${choreonoid_exe}
echo "****************************************************" 1>&2
echo "* *" 1>&2
echo "* *" 1>&2
echo "* Old choreonoid process was found. *" 1>&2
echo "* Process has been killed, please start again. *" 1>&2
echo "* *" 1>&2
echo "* *" 1>&2
echo "****************************************************" 1>&2
exit 1
fi
# if [ "$(pgrep -x ${choreonoid_exe} | wc -l)" != 0 ]; then
# pkill -9 ${choreonoid_exe}
# echo "****************************************************" 1>&2
# echo "* *" 1>&2
# echo "* *" 1>&2
# echo "* Old choreonoid process was found. *" 1>&2
# echo "* Process has been killed, please start again. *" 1>&2
# echo "* *" 1>&2
# echo "* *" 1>&2
# echo "****************************************************" 1>&2
# exit 1
# fi

cnoid_proj=""
if [ "$(echo $1 | grep \.cnoid$ | wc -l)" == 1 ]; then
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2 changes: 2 additions & 0 deletions hrpsys_choreonoid/launch/startup_choreonoid.launch
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Expand Up @@ -12,6 +12,7 @@
<arg name="REALTIME" default="true" />
<arg name="OUTPUT" default="log"/>
<arg name="corbaport" default="15005" />
<arg name="managerport" default="15006" />
<arg name="CONNECT_CONSTRAINT_FORCE_LOGGER_PORTS" default="false"/>

<arg name="RobotHardware_conf" default="$(arg CONF_FILE)"/>
Expand All @@ -36,6 +37,7 @@
<arg name="KILL_SERVERS" value="$(arg KILL_SERVERS)" />
<arg name="REALTIME" value="$(arg REALTIME)" />
<arg name="corbaport" value="$(arg corbaport)" />
<arg name="managerport" value="$(arg managerport)" />
<arg name="openrtm_openhrp_server_start" value="true"/>
<arg name="RESPAWN_MODELLOADER" value="false" />
<arg name="GUI" default="$(arg GUI)" />
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51 changes: 23 additions & 28 deletions hrpsys_choreonoid_tutorials/launch/chidori_choreonoid.launch
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Expand Up @@ -5,9 +5,12 @@
<arg name="KILL_SERVERS" default="false" />
<arg name="NOSIM" default="false" />
<arg name="REALTIME" default="true" />
<arg name="USE_ROS" default="true" />
<arg name="RUN_RVIZ" default="true" />
<arg name="GUI" default="true" />
<arg name="hrpsys_precreate_rtc" default=""/>
<arg name="corbaport" default="15005" />
<arg name="managerport" default="15006" />
<!-- robot dependant settings -->
<arg if="$(arg USE_ROBOTHARDWARE)"
name="taskname" value="RH_$(arg TASK)" />
Expand All @@ -33,6 +36,8 @@

<!-- hrpsys -->
<include file="$(find hrpsys_choreonoid)/launch/startup_choreonoid.launch" >
<arg name="corbaport" default="$(arg corbaport)" />
<arg name="managerport" default="$(arg managerport)" />
<!-- robot dependant settings -->
<arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
<arg name="PROJECT_FILE" value="$(arg PROJECT_FILE)" />
Expand All @@ -48,33 +53,23 @@
<arg name="hrpsys_precreate_rtc" value="$(arg hrpsys_precreate_rtc)" />
<arg name="CONNECT_CONSTRAINT_FORCE_LOGGER_PORTS" default="$(arg CONNECT_CONSTRAINT_FORCE_LOGGER_PORTS)"/>
</include>
<!-- ros_bridge -->
<rosparam command="load" file="$(arg CONTROLLER_CONFIG)" />
<include file="$(find hrpsys_choreonoid)/launch/ros_bridge_choreonoid.launch" >
<!-- robot dependant settings -->
<arg name="SIMULATOR_NAME" value="$(arg BRIDGE_SIMULATOR_NAME)" />
<arg name="MODEL_FILE" value="$(arg MODEL_FILE)" />
<arg name="COLLADA_FILE" value="$(arg COLLADA_FILE)"/>
<arg name="CONF_FILE" value="$(arg CONF_FILE)" />
</include>

<!-- -->
<!-- additional settings -->
<!-- -->
<!-- additional ros_bridge -->
<include file="$(find jsk_footstep_controller)/launch/hrp2jsk_footcoords.launch" />

<!-- vision setting -->
<!-- <include file="$(find hrpsys_choreonoid_tutorials)/launch/jaxon_red_vision_connect.launch" >-->
<!-- <arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />-->
<!-- </include>-->
<group if="$(arg USE_ROS)">
<!-- ros_bridge -->
<rosparam command="load" file="$(arg CONTROLLER_CONFIG)" />
<include file="$(find hrpsys_choreonoid)/launch/ros_bridge_choreonoid.launch" >
<arg name="corbaport" default="$(arg corbaport)" />
<arg name="managerport" default="$(arg managerport)" />
<!-- robot dependant settings -->
<arg name="SIMULATOR_NAME" value="$(arg BRIDGE_SIMULATOR_NAME)" />
<arg name="MODEL_FILE" value="$(arg MODEL_FILE)" />
<arg name="COLLADA_FILE" value="$(arg COLLADA_FILE)"/>
<arg name="CONF_FILE" value="$(arg CONF_FILE)" />
</include>
<!-- -->
<!-- additional settings -->
<!-- -->
<!-- additional ros_bridge -->
<include file="$(find jsk_footstep_controller)/launch/hrp2jsk_footcoords.launch" />
</group>

<!--
<arg name="launch_multisense_local" default="false" />
<arg name="launch_multisense_remote" default="false" />
<include if="$(arg launch_multisense_local)"
file="$(find jaxon_ros_bridge)/launch/jaxon_multisense_local.launch" />
<include if="$(arg launch_multisense_remote)"
file="$(find hrpsys_ros_bridge_jvrc)/launch/jaxon_jvrc_multisense.launch" />
-->
</launch>
74 changes: 43 additions & 31 deletions hrpsys_choreonoid_tutorials/launch/jaxon_blue_choreonoid.launch
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Expand Up @@ -8,12 +8,15 @@
<arg name="KILL_SERVERS" default="false" />
<arg name="NOSIM" default="false" />
<arg name="REALTIME" default="true" />
<arg name="USE_ROS" default="true" />
<arg name="RUN_RVIZ" default="true" />
<!-- <arg name="USE_VISION" default="true" /> -->
<arg name="USE_VISION" default="false" />
<arg name="GUI" default="true" />
<arg name="hrpsys_precreate_rtc" default=""/>
<arg name="LAUNCH_FOOTCOORDS" default="true" />
<arg name="corbaport" default="15005" />
<arg name="managerport" default="15006" />

<!-- robot dependant settings -->
<arg if="$(arg USE_ROBOTHARDWARE)"
Expand Down Expand Up @@ -47,6 +50,8 @@

<!-- hrpsys -->
<include file="$(find hrpsys_choreonoid)/launch/startup_choreonoid.launch" >
<arg name="corbaport" default="$(arg corbaport)" />
<arg name="managerport" default="$(arg managerport)" />
<!-- robot dependant settings -->
<arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
<arg name="PROJECT_FILE" value="$(arg PROJECT_FILE)" />
Expand All @@ -62,39 +67,46 @@
<arg name="hrpsys_precreate_rtc" value="$(arg hrpsys_precreate_rtc)" />
<arg name="CONNECT_CONSTRAINT_FORCE_LOGGER_PORTS" default="$(arg CONNECT_CONSTRAINT_FORCE_LOGGER_PORTS)"/>
</include>
<!-- ros_bridge -->
<rosparam command="load" file="$(arg CONTROLLER_CONFIG)" />
<include file="$(find hrpsys_choreonoid)/launch/ros_bridge_choreonoid.launch" >
<!-- robot dependant settings -->
<arg name="SIMULATOR_NAME" value="$(arg BRIDGE_SIMULATOR_NAME)" />
<arg name="MODEL_FILE" value="$(arg MODEL_FILE)" />
<arg name="COLLADA_FILE" value="$(arg COLLADA_FILE)"/>
<arg name="CONF_FILE" value="$(arg CONF_FILE)" />
</include>

<!-- -->
<!-- additional settings -->
<!-- -->
<!-- additional ros_bridge -->
<include file="$(find jsk_footstep_controller)/launch/hrp2jsk_footcoords.launch"
if="$(arg LAUNCH_FOOTCOORDS)" />
<node pkg="tf2_ros" type="buffer_server" name="tf2_buffer_server"
if="$(arg LAUNCH_FOOTCOORDS)" />

<!-- vision setting -->
<group if="$(arg USE_VISION)">
<include file="$(find hrpsys_choreonoid_tutorials)/launch/jaxon_blue_vision_connect.launch" >
<arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
<group if="$(arg USE_ROS)">
<!-- ros_bridge -->
<rosparam command="load" file="$(arg CONTROLLER_CONFIG)" />
<include file="$(find hrpsys_choreonoid)/launch/ros_bridge_choreonoid.launch" >
<arg name="corbaport" default="$(arg corbaport)" />
<arg name="managerport" default="$(arg managerport)" />
<!-- robot dependant settings -->
<arg name="SIMULATOR_NAME" value="$(arg BRIDGE_SIMULATOR_NAME)" />
<arg name="MODEL_FILE" value="$(arg MODEL_FILE)" />
<arg name="COLLADA_FILE" value="$(arg COLLADA_FILE)"/>
<arg name="CONF_FILE" value="$(arg CONF_FILE)" />
</include>
</group>

<!-- -->
<!-- additional settings -->
<!-- -->
<!-- additional ros_bridge -->
<include file="$(find jsk_footstep_controller)/launch/hrp2jsk_footcoords.launch"
if="$(arg LAUNCH_FOOTCOORDS)" />
<node pkg="tf2_ros" type="buffer_server" name="tf2_buffer_server"
if="$(arg LAUNCH_FOOTCOORDS)" />

<!-- vision setting -->
<group if="$(arg USE_VISION)">
<include file="$(find hrpsys_choreonoid_tutorials)/launch/jaxon_blue_vision_connect.launch" >
<arg name="corbaport" default="$(arg corbaport)" />
<arg name="managerport" default="$(arg managerport)" />
<arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
</include>
</group>

<!--
<arg name="launch_multisense_local" default="false" />
<arg name="launch_multisense_remote" default="false" />
<include if="$(arg launch_multisense_local)"
file="$(find jaxon_ros_bridge)/launch/jaxon_multisense_local.launch" />
<include if="$(arg launch_multisense_remote)"
file="$(find hrpsys_ros_bridge_jvrc)/launch/jaxon_jvrc_multisense.launch" />
-->

<!--
<arg name="launch_multisense_local" default="false" />
<arg name="launch_multisense_remote" default="false" />
<include if="$(arg launch_multisense_local)"
file="$(find jaxon_ros_bridge)/launch/jaxon_multisense_local.launch" />
<include if="$(arg launch_multisense_remote)"
file="$(find hrpsys_ros_bridge_jvrc)/launch/jaxon_jvrc_multisense.launch" />
-->
</group>
</launch>
75 changes: 45 additions & 30 deletions hrpsys_choreonoid_tutorials/launch/jaxon_red_choreonoid.launch
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Expand Up @@ -8,11 +8,14 @@
<arg name="KILL_SERVERS" default="false" />
<arg name="NOSIM" default="false" />
<arg name="REALTIME" default="true" />
<arg name="USE_ROS" default="true" />
<arg name="RUN_RVIZ" default="true" />
<arg name="USE_VISION" default="true" />
<arg name="GUI" default="true" />
<arg name="hrpsys_precreate_rtc" default=""/>
<arg name="LAUNCH_FOOTCOORDS" default="true" />
<arg name="corbaport" default="15005" />
<arg name="managerport" default="15006" />

<!-- robot dependant settings -->
<arg if="$(arg USE_ROBOTHARDWARE)"
Expand Down Expand Up @@ -51,6 +54,8 @@

<!-- hrpsys -->
<include file="$(find hrpsys_choreonoid)/launch/startup_choreonoid.launch" >
<arg name="corbaport" default="$(arg corbaport)" />
<arg name="managerport" default="$(arg managerport)" />
<!-- robot dependant settings -->
<arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
<arg name="PROJECT_FILE" value="$(arg PROJECT_FILE)" />
Expand All @@ -66,39 +71,49 @@
<arg name="hrpsys_precreate_rtc" value="$(arg hrpsys_precreate_rtc)" />
<arg name="CONNECT_CONSTRAINT_FORCE_LOGGER_PORTS" default="$(arg CONNECT_CONSTRAINT_FORCE_LOGGER_PORTS)"/>
</include>
<!-- ros_bridge -->
<rosparam command="load" file="$(arg CONTROLLER_CONFIG)" />
<include file="$(find hrpsys_choreonoid)/launch/ros_bridge_choreonoid.launch" >
<!-- robot dependant settings -->
<arg name="SIMULATOR_NAME" value="$(arg BRIDGE_SIMULATOR_NAME)" />
<arg name="MODEL_FILE" value="$(arg MODEL_FILE)" />
<arg name="COLLADA_FILE" value="$(arg COLLADA_FILE)"/>
<arg name="CONF_FILE" value="$(arg CONF_FILE)" />
</include>

<!-- -->
<!-- additional settings -->
<!-- -->
<!-- additional ros_bridge -->
<include file="$(find jsk_footstep_controller)/launch/hrp2jsk_footcoords.launch"
if="$(arg LAUNCH_FOOTCOORDS)" />
<node pkg="tf2_ros" type="buffer_server" name="tf2_buffer_server"
if="$(arg LAUNCH_FOOTCOORDS)" />
<group if="$(arg USE_ROS)">

<!-- vision setting -->
<group if="$(arg USE_VISION)">
<include file="$(find hrpsys_choreonoid_tutorials)/launch/jaxon_red_vision_connect.launch" >
<arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
<!-- ros_bridge -->
<rosparam command="load" file="$(arg CONTROLLER_CONFIG)" />
<include file="$(find hrpsys_choreonoid)/launch/ros_bridge_choreonoid.launch" >
<arg name="corbaport" default="$(arg corbaport)" />
<arg name="managerport" default="$(arg managerport)" />
<!-- robot dependant settings -->
<arg name="SIMULATOR_NAME" value="$(arg BRIDGE_SIMULATOR_NAME)" />
<arg name="MODEL_FILE" value="$(arg MODEL_FILE)" />
<arg name="COLLADA_FILE" value="$(arg COLLADA_FILE)"/>
<arg name="CONF_FILE" value="$(arg CONF_FILE)" />
</include>
</group>

<!-- -->
<!-- additional settings -->
<!-- -->
<!-- additional ros_bridge -->
<include file="$(find jsk_footstep_controller)/launch/hrp2jsk_footcoords.launch"
if="$(arg LAUNCH_FOOTCOORDS)" />
<node pkg="tf2_ros" type="buffer_server" name="tf2_buffer_server"
if="$(arg LAUNCH_FOOTCOORDS)" />

<!-- vision setting -->
<group if="$(arg USE_VISION)">
<include file="$(find hrpsys_choreonoid_tutorials)/launch/jaxon_red_vision_connect.launch" >
<arg name="corbaport" default="$(arg corbaport)" />
<arg name="managerport" default="$(arg managerport)" />
<arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
</include>
</group>


<!--
<arg name="launch_multisense_local" default="false" />
<arg name="launch_multisense_remote" default="false" />
<include if="$(arg launch_multisense_local)"
file="$(find jaxon_ros_bridge)/launch/jaxon_multisense_local.launch" />
<include if="$(arg launch_multisense_remote)"
file="$(find hrpsys_ros_bridge_jvrc)/launch/jaxon_jvrc_multisense.launch" />
-->

</group>

<!--
<arg name="launch_multisense_local" default="false" />
<arg name="launch_multisense_remote" default="false" />
<include if="$(arg launch_multisense_local)"
file="$(find jaxon_ros_bridge)/launch/jaxon_multisense_local.launch" />
<include if="$(arg launch_multisense_remote)"
file="$(find hrpsys_ros_bridge_jvrc)/launch/jaxon_jvrc_multisense.launch" />
-->
</launch>
3 changes: 2 additions & 1 deletion hrpsys_choreonoid_tutorials/launch/jaxon_red_vision_connect.launch
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Expand Up @@ -3,9 +3,10 @@
<arg name="OUTPUT" default="log"/>
<arg name="nameserver" default="localhost" />
<arg name="corbaport" default="15005" />
<arg name="managerport" default="15006" />
<arg name="periodic_rate" default="200" />

<arg name="openrtm_args" default='-o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:$(arg periodic_rate)" -o "logger.file_name:/tmp/rtc%p.log"' />
<arg name="openrtm_args" default='-o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:$(arg periodic_rate)" -o "logger.file_name:/tmp/rtc%p.log"' />

<env name="RTCTREE_NAMESERVERS" value="$(arg nameserver):$(arg corbaport)" />
<env name="LANG" value="C" />
Expand Down