README.md

CORBA server/client for the Graphical Interface of Pinocchio and HPP

Summary

• gepetto-viewer-corba
  • Setup
  • Dependencies
  • Install standalone urdfdom
• gepetto-gui
  • Usage
    • Basic usage
    • Adding predefined robots and environments
    • Loading plugins
    • For HPP developpers
  • Installation procedure
    • Dependencies
    • PythonQt
    • Python 3
• Troubleshooting

gepetto-viewer-corba

Setup from robotpkg apt binary package repository

1. Add robotpkg to your apt configuration: http://robotpkg.openrobots.org/debian.html
2. sudo apt update && sudo apt install robotpkg-qt4-gepetto-viewer-corba

Setup from sources

To compile this package, it is recommended to create a separate build directory:

mkdir _build
cd _build
cmake [OPTIONS] ..
make install

Please note that CMake produces a CMakeCache.txt file which should be deleted to reconfigure a package from scratch.

Makefile

A Makefile that installs the dependencies is provided for convinience. Please follow those steps:

• copy doc/Makefile,
• open and set the variable SRC_DIR and INSTALL_DIR,
• optionally, change OSG_PACKAGE and QT_VERSION,
• run make all

Note that the environment variables PATH, LD_LIBRARY_PATH and PKG_CONFIG_PATH should include the path to the installation directory.

Dependencies

The present software depends on several packages which have to be available on your machine.

• Libraries:
  • omniORB4 (version >= 4.1.4)
  • openscenegraph (version >= 3.2)
  • urdfdom (version >= 0.3.0)
  • GepettoViewer (Graphical Interface of Pinocchio and HPP)
• Binaries:
  • omniNames (installed by sudo apt-get install omniorb-nameserver)
• System tools:
  • CMake (>=2.6)
  • pkg-config
  • usual compilation tools (GCC/G++, make, etc.)

Install standalone urdfdom

In order to read urdf files (see http://wiki.ros.org/urdf for the description), one haves to install the urdfdom package which can come either along ROS library or be installed as a standalone library. Next section describes the second procedure.

urdfdom depends on both console_bridge and urdfdom_headers. The installation of both dependencies can be done with the following command lines in a terminal :

• git clone git://github.com/ros/console_bridge.git && cd console_bridge && mkdir build && cd build && cmake .. && make && sudo make install
• git clone git://github.com/ros/urdfdom_headers && cd urdfdom_headers && mkdir build && cd build && cmake .. && make && sudo make install

Finally, you just need to apply the following command line to install urdfdom library :

• git clone git://github.com/ros/urdfdom && cd urdfdom && mkdir build && cd build && cmake .. && make && sudo make install

gepetto-gui

Usage

Basic usage

Launch the binary file gepetto-gui and do as in this video.

Adding predefined robots and environments

For convenience, robots and environments can be predefined.

Automatic

• Robots:

# Use option --predefined-robots to change the robots setting file.
# OPTIONS="--predefined-robots other-robots"
OPTIONS=""

# PR2 from hpp_tutorial
gepetto-gui -g ${OPTIONS} --add-robot "PR2-hpp_tutorial,pr2,planar,pr2,hpp_tutorial,,_manipulation"
# HRP2
gepetto-gui -g ${OPTIONS} --add-robot "HRP2,hrp2,freeflyer,hrp2_14,hrp2_14_description,,"
# Romeo
gepetto-gui -g ${OPTIONS} --add-robot "Romeo,romeo,freeflyer,romeo,romeo_description,,H37V1"

• Environments:

# Use option --predefined-environments to change the environments setting file.
# OPTIONS="--predefined-environments other-environments"
OPTIONS=""

# Kitchen
gepetto-gui -g ${OPTIONS} --add-env "Kitchen,kitchen,iai_maps,kitchen_area"

Manually

The configuration files are - from the installation prefix - in etc/gepetto-gui. Open ${CMAKE_INSTALL_PREFIX}/etc/gepetto-gui/robots.conf and write:

[PR2 - hpp_tutorial]
RobotName=pr2
ModelName=pr2
RootJointType=planar
Package=hpp_tutorial
URDFSuffix=
SRDFSuffix=_manipulation

[HRP2]
RobotName=hrp2_14
ModelName=hrp2_14
RootJointType=freeflyer
Package=hrp2_14_description
URDFSuffix=
SRDFSuffix=

Open ${CMAKE_INSTALL_PREFIX}/etc/gepetto-gui/environments.conf and write:

[Kitchen]
RobotName=Kitchen
Package=iai_maps
URDFFilename=kitchen_area

Note: Do not forget to replace ${CMAKE_INSTALL_PREFIX} by a relevant path.

Loading plugins

Automatic

# Use option --config-file to change the settings file.
# OPTIONS="--config-file other-settings"
OPTIONS=""

# Using the core framework: hppcorbaserver
gepetto-gui -g ${OPTIONS} \
  --load-plugin hppwidgetsplugin.so \
  --load-plugin hppcorbaserverplugin.so \
  --load-plugin remoteimuplugin.so

# Using the manipulation framework: hpp-manipulation-server
gepetto-gui -g ${OPTIONS} \
  --load-plugin hppmanipulationwidgetsplugin.so \
  --load-plugin hppmanipulationplugin.so \
  --load-plugin hppmonitoringplugin.so \
  --load-plugin remoteimuplugin.so

Manually

Open ${CMAKE_INSTALL_PREFIX}/etc/gepetto-gui/settings.conf and write:

[plugins]
hppcorbaserverplugin.so=true
remoteimuplugin.so=true
hppwidgetsplugin.so=true

The plugins are looked for in the directory ${CMAKE_INSTALL_PREFIX}/lib/gepetto-gui-plugins

For HPP developpers

As HPP, the GUI can be controlled using a python interface. When the GUI starts, it launches a server for both HPP and the Gepetto Viewer exactly as if you were manually launching the two commands hppcorbaserver and gepetto-viewer-server. This means that you can run the same python scripts and it will work !