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Note: This tutorial assumes that you have completed the previous tutorials: rtmros_nextage/Tutorials/Install NEXTAGE OPEN software on your machine.
(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Run simulated Hiro / NEXTAGE OPEN robot

Description: Introduce a few ways of how to run the processes simulated robot.

Tutorial Level: BEGINNER

Next Tutorial: Running services, operating via scripts and GUI

NOTE: All the tutorials available under the URL http://wiki.ros.org/rtmros_nextage/Tutorials are applicable to the multiple products of Kawada Industries; Hiro (only with the one that opensource software is installed) and NEXTAGE OPEN. To simplify the notation in the rest of the tutorials, we use HiroNXO to appoint the aforementioned robots.

Simulation for HiroNXO

There's levels of "simulation" for any kind of systems, but here's how we define it for HiroNXO:

  1. 3D physics emulation that is happening in OpenRTM layer of HiroNXO systems.
  2. Visualization of sensor inputs and robot's joints status (i.e. what RViz is capable of).
  3. 3D physics emulation that is happening in ROS layer of HiroNXO systems.

How to run each level of simulation is discussed in this page.

Dynamics simulation in OpenRTM layer

This is level-1 HiroNXO simulation.

If you look back the component structure of HiroNXO systems, robot's core functions are running on a framework called [[openrtm|OpenRTM]]. With that in mind, it is possible to virtually realize the robot's functionality by using OpenRTM-based simulator called hrpsys-simulator (along with OpenHRP3), if you do not need the higher level of features that ROS offers.

In many cases where you just like to run your program without specific purpose, this should be enough.

Launch a simulator that "mimic"s a real robot. Notice the command is rtmlaunch, not roslaunch:

If you see the following or similar on command prompt, your simulator is good:

And a robot on hrpsys-simulator viewer:

Connecting to a simulated robot running on a remote host

When connecting remotely via python script, you need to specify the instance name of the robot by using --robot argument. E.g.,

Visualization of sensor inputs and robot's joints status

This is level-2 HiroNXO simulation.

(TBD)

3D physics emulation with ROS and Gazebo

This is level-3 HiroNXO simulation.

nxo_gz_cesna.png

(TBD)


2019-10-12 13:06