ROS Nextage Practice

Environment

• Ubuntu 14.04
• ROS Indigo

Interactive ROS Indigo environment with Docker

• https://opensource-robotics.tokyo.jp/?p=2936&lang=en

Installation of ROS Indigo in Ubuntu 14.04

http://wiki.ros.org/indigo/Installation/Ubuntu

$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net --recv-key 0xB01FA116
$ sudo apt-get install ros-indigo-desktop-full
$ rosdep update
$ sudo rosdep init
$ echo "source /opt/ros/indigo/setup.bas h" >> ~/.bashrc
$ sudo apt-get install python-rosinstall

Install NEXTAGE Open

http://wiki.ros.org/rtmros_nextage/Tutorials/Install%20NEXTAGE%20OPEN%20software%20on%20your%20machine

$ sudo apt-get update && sudo apt-get install ros-indigo-rtmros-nextage ros-indigo-rtmros-hironx
$ rtmlaunch hironx_ros_bridge hironx_ros_bridge_simulation.launch   (HIRO)
$ rtmlaunch nextage_ros_bridge nextage_ros_bridge_simulation.launch (NEXTAGE OPEN)

Webpage

• http://wiki.ros.org/rtmros_nextage/Tutorials
• http://wiki.ros.org/rtmros_nextage/Tutorials/Programming_Hiro_NEXTAGE_OPEN_RTM
• http://docs.ros.org/indigo/api/hironx_rpc_server/html/
• https://rtmros-nextage.readthedocs.io/en/latest/
  • https://opensource-robotics.tokyo.jp/?page_id=681

Command

• setTargetPose('rarm', [0.32, -0.18, 0.06], [-3, -1.5, 3.0], tm=3)
• setTargetPoseRelative('rarm', 'RARM_JOINT5', dz=0.01, tm=3)
• getCurrentPosition('RARM_JOINT5')
• getCurrentRPY('RARM_JOINT5')
• setJointAngle(self, jname, angle, tm)
• setJointAngles(self, angles, tm)
• setJointAnglesOfGroup(self, gname, pose, tm, wait=True)
• getJointAngles(self)

Reference

• /opt/ros/indigo/lib/python2.7/dist-packages/hironx_ros_bridge
• /opt/ros/indigo/lib/python2.7/dist-packages/nextage_ros_bridge
• /opt/ros/indigo/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py
• /opt/ros/indigo/share/nextage_ros_bridge/script/nextage.py