Skip to content
Snippets Groups Projects
Commit acab9ae5 authored by heidydallard's avatar heidydallard Committed by hdallard
Browse files

Update README.md

parent 4e7eae5c
No related branches found
No related tags found
No related merge requests found
Hide whitespace changes
Inline Side-by-side
Showing
with 156 additions and 1 deletion
README.md
+ 156
− 1
View file @ acab9ae5
CORBA server/client for the Graphical Interface of Pinocchio and HPP CORBA server/client for the Graphical Interface of Pinocchio and HPP
==================================================================== ====================================================================
Setup ## Summary
* [gepetto-viewer-corba] (#gepetto-viewer-corba)
* [Setup] (#setup)
* [Dependencies] (#dependencies)
* [Install standalone urdfdom] (#install-standalone-urdfdom)
* [gepetto-gui] (#gepetto-gui)
* [Usage](#usage)
* [Basic usage](#basic-usage)
* [Adding predefined robots and environments](#adding-predefined-robots-and-environments)
* [Loading plugins](#loading-plugins)
* [For HPP developpers](#for-hpp-developpers)
* [Installation procedure](#installation-procedure)
* [Dependencies](#dependencies)
* [PythonQt](#pythonqt)
## gepetto-viewer-corba
###Setup
----- -----
To compile this package, it is recommended to create a separate build To compile this package, it is recommended to create a separate build
...@@ -42,4 +58,143 @@ urdfdom depends on both console_bridge and urdfdom_headers. The installation of ...@@ -42,4 +58,143 @@ urdfdom depends on both console_bridge and urdfdom_headers. The installation of
Finally, you just need to apply the following command line to install urdfdom library : 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 - 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](http://homepages.laas.fr/jmirabel/raw/videos/hpp-gui-example.mp4).
#### Adding predefined robots and environments
For convenience, robots and environments can be predefined.
###### Automatic
* Robots:
```bash
# Use option --predefined-robots to change the robots setting file.
# OPTIONS="--predefined-robots other-robots"
OPTIONS=""
# PR2 from hpp_tutorial
gepetto-gui -g ${OPTIONS} --add-robot "PR2-hpp_tutorial,pr2,planar,pr2,hpp_tutorial,"`rospack find hpp_tutorial`",,_manipulation,"`rospack find pr2_description| sed 's/pr2_description$//'`
# HRP2
gepetto-gui -g ${OPTIONS} --add-robot "HRP2,hrp2,freeflyer,hrp2_14,hrp2_14_description,"`rospack find hrp2_14_description`",,,"`rospack find hrp2_14_description| sed 's/hrp2_14_description$//'`
# Romeo
gepetto-gui -g ${OPTIONS} --add-robot "Romeo,romeo,freeflyer,romeo,romeo_description,"`rospack find romeo_description`",,H37V1,"`rospack find romeo_description| sed 's/romeo_description$//'`
```
* Environments:
```bash
# Use option --predefined-environments to change the environments setting file.
# OPTIONS="--predefined-environments other-environments"
OPTIONS=""
# Kitchen
gepetto-gui -g ${OPTIONS} --add-env "Kitchen,kitchen,iai_maps,"`rospack find iai_maps`",kitchen_area,"`rospack find iai_maps| sed 's/iai_maps$//'`
```
###### Manually
The configuration files are - from the installation prefix - in `etc/gepetto-gui`.
Open `${CMAKE_INSTALL_PREFIX}/etc/gepetto-gui/robots.conf` and write:
```
[PR2 - hpp_tutorial]
RobotName=pr2
ModelName=pr2
RootJointType=planar
Package=hpp_tutorial
PackagePath=${CMAKE_INSTALL_PREFIX}/share/hpp_tutorial
URDFSuffix=
SRDFSuffix=_manipulation
MeshDirectory=/opt/ros/hydro/share/
[HRP2]
RobotName=hrp2_14
ModelName=hrp2_14
RootJointType=freeflyer
Package=hrp2_14_description
PackagePath=${CMAKE_INSTALL_PREFIX}/share/hrp2_14_description
URDFSuffix=
SRDFSuffix=
MeshDirectory=${CMAKE_INSTALL_PREFIX}/share/
```
Open `${CMAKE_INSTALL_PREFIX}/etc/gepetto-gui/environments.conf` and write:
```
[Kitchen]
RobotName=Kitchen
Package=iai_maps
PackagePath=${CMAKE_INSTALL_PREFIX}/share/iai_maps
URDFFilename=kitchen_area
MeshDirectory=${CMAKE_INSTALL_PREFIX}/share/
```
Note: Do not forget to replace `${CMAKE_INSTALL_PREFIX}` by a relevant path.
#### Loading plugins
###### Automatic
```bash
# 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 libhppwidgetsplugin.so \
--load-plugin libhppcorbaserverplugin.so \
--load-plugin libremoteimuplugin.so
# Using the manipulation framework: hpp-manipulation-server
gepetto-gui -g ${OPTIONS} \
--load-plugin libhppmanipulationwidgetsplugin.so \
--load-plugin libhppmanipulationplugin.so \
--load-plugin libhppmonitoringplugin.so \
--load-plugin libremoteimuplugin.so
```
###### Manually
Open `${CMAKE_INSTALL_PREFIX}/etc/gepetto-gui/settings.conf` and write:
```
[plugins]
libhppcorbaserverplugin.so=true
libremoteimuplugin.so=true
libhppwidgetsplugin.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 !
When you do so, pay attention to the following points:
- the GUI has no way of knowing when to refresh the list of joints and bodies. **There is a refresh button in the `Tools` menu**.
- you can run the `hppcorbaserver` (or any server embedding it, like `hpp-manipulation-server`) externally. Use `Tools > Reset connection` when the CORBA client has to reconnect to a new server.
In this case, set `libhppcorbaserverplugin.so` and `libhppmanipulationplugin.so` to `false` in your settings file because they are launching the servers themselves.
- moving the robot in the GUI while the server is processing data can lead to unexpected results, because you are modifying the *current configuration* of HPP when not expected.
## Installation procedure
There are a few dependencies to be installed before installing *gepetto-gui*.
### Dependencies
There are a few required dependencies and several optional ones.
#### Core interface
There are only one dependency:
* Qt 4: `sudo apt-get install qt4-dev-tools libqt4-opengl-dev libqtgui4`.
Optionally, for a better rendering:
* `oxygen-icon-theme`: `sudo apt-get install oxygen-icon-theme`
#### Plugins
It is possible to extend the abilities of `gepetto-gui` with plugins.
See [hpp-gui] and [hpp-plot] for examples.
### Installation of *gepetto-gui*
To install `gepetto-gui` you just have to follow the installation step at the top of this page.
### PythonQt
gepetto-gui offers the possibility to develop plugins in python. To do so, you must install PythonQt by following the instructions here: https://github.com/jmirabel/PythonQt#readme
[HPP]:http://projects.laas.fr/gepetto/index.php/Software/Hpp
[remoteimu]:https://github.com/jmirabel/remoteimu
[hpp-gui]:https://github.com/jmirabel/hpp-gui
[hpp-plot]:https://github.com/jmirabel/hpp-plot
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment