This document is an installation guide for the graspPlugin for Choreonoid, which is used during robotic manipulations of a dual-arm robot in “The Development Project for Intelligent Technologies for Next-Generation Robots.” The graspPlugin for Choreonoid was developed as a plug-in for Choreonoid (an integrated software for choreographing robotic motions), with Hand grasp planning, Arm Trajectory Planning, etc. conforming to OpenRTM standards.
This document targets users with a basic knowledge of RT Middleware (RTM) and RT Components (RTC). Refer to the link below for details on RTM and RTC.
OpenRTM-aist Official Website:
http://www.openrtm.org/openrtm/ja
Furthermore, refer to all the documents listed below for details on the “Demo” using the dual-arm robot, HiroNX.
The graspPlugin for Choreonoid is composed of multiple plug-ins for Choreonoid. One of them is the trajectory planning plug-in that is used in planning a collision-free trajectory. Professor Claude Latombe has kindly allowed us to port the Motion Planning Kit developed at Stanford University as a plug-in for Choreonoid. We request that users who download the graspPlugin for Choreonoid send their names and affiliated organizations to the contact address mentioned at the end of this document. This would facilitate us in sending information on users using the Motion Planning Kit to Professor Latombe.
This installation guide assumes that the computer's operating system is Ubuntu 10.04LTS. The software versions to be installed are given below.
Figure 1 shows a broad overview of the graspPlugin for Choreonoid configuration.
Figure 1. graspPlugin for Choreonoid
graspPlugin for Choreonoid is a set of plug-ins that provide grasp Planning, Trajectory planning, and Object manipulation planning functionalities, among others. The plug-ins included in this package are listed below.
Install OpenRTM-aist 1.0.0-RELEASE on Ubuntu 10.04 using the batch setup script. If you have already completed the installation of OpenRTM, you can skip this section and proceed to the next section.
Download the batch setup script, pkg_install_ubuntu.sh for Ubuntu, from the OpenRTM-aist-1.0.0-RELEASE website ((http://www.openrtm.org/openrtm/ja/node/849).
(Note: The file is listed as “pkg_install_ubuntu.sh” on the website, but the name actually changes to “pkg_install_ubuntu100.sh” when downloaded.)
When not using a browser, the file can be downloaded via wget as follows: (from here on, the lines inside the text box starting with a “%” represent commands entered at the computer terminal; however, do not include the “%” at the beginning of your entries at the computer terminal.)
% wget http://openrtm.org/svnroot/OpenRTM-aist/trunk/OpenRTM-aist/build/pkg_install100_ubuntu.sh
% sudo sh pkg_install100_ubuntu.sh
Example 1
No repository entry for OpenRTM-aist is configured in your system. repository entry for OpenrRTM-aist: deb http://www.openrtm.de/pub/Linux/ubuntu/ lucid main Do
After this operation, XXXMB of additional disk space will be used. Do you want to continue [Y/n]?
WARNING: The following packages cannot be authenticated! xxxx-xxx Install these packages without verification [y/N]?
The installation procedure for Choreonoid (integrated software for choreographing robotic motions) is outlined below. In this section, only Choreonoid is built and executed, instead of installing the graspPlugin in one shot. The installation directory is taken as “~/src/choreonoid-1.0.0.”
Download the source package file “http://choreonoid.org/_downloads/choreonoid-1.0.0.zip” from the official Choreonoid site (http://choreonoid.org/en/). Unzip and extract the files by specifying “~/src” as the destination directory to create the “~/src/choreonoid-1.0.0” directory for the extracted files.
Once the computer has booted, make the “~/src/choreonoid-1.0.0” directory your current directory.
% cd choreonoid-1.0.0
Execute the batch installation script that is available at choreonoid /misc/script.
% cd choreonoid/misc/script % sudo ./install-requisities-ubuntu.sh (an omittion) Need to get xxxMB of archives. After this operation, xxxMB of additional disk space will be used. Do you want to continue [Y/n]?
% sudo apt-get update % sudo ./install-requisities-ubuntu.sh
% sudo apt-get install libgstreamermm-0.10-dev libqt4-phonon-dev
% cd ../..
Invoke ccmake to generate the Makefile.
% ccmake .
Figure 2. ccmake: EMPTY CACHE
On pressing the “c” key to configure, a menu showing the key and values should be displayed within a few seconds.
Figure 3. ccmake: configure
On pressing “c” again, a new menu item will be displayed in the lower section of the screen displaying the message, “Press [g] to generate and exit.”
Figure 4. ccmake: generate and exit
Press “g” to exit ccmake. The Makefile will be generated by this “generate and exit” operation. Execute make and build Choreonoid.
% make
Once the execution of make is completed, execute Choreonoid.
% bin/choreonoid
Figure 5. Choreonoid startup screen
The procedure for installing graspPlugin on Choreonoid is given below.
Since subversion is required for the installation of graspPlugin, install the same, if it is not already installed.
% sudo apt-get install subversion
Use subversion to check out and extract the graspPlugin source under the “extplugin” directory of “~/src/choreonoid-1.0.0.”
% cd ~/src/choreonoid-1.0.0/extplugin % svn checkout http://grasp-plugin.googlecode.com/svn/trunk/graspPlugin
Execute the graspPlugin installation script (a user password is required).
% ./graspPlugin/Grasp/install-requisities-ubuntu.sh
% sudo apt-get install wx-common
In order to install graspPlugin as a plug-in, change Choreonoid’s build settings using ccmake.
% cd ~/src/choreonoid-1.0.0 % ccmake .
Pressing the “c” key twice will configure and create two items: GRASP_PLUGINS and GRASP_ROBOT_MODEL_PLUGINS.
Figure 6. ccmake: Editing the keys
Set the following values to the respective items:
Key | Value |
---|---|
GRASP_PLUGINS | Grasp;PRM;GripperManipulation;VisionTrigger;RobotInterface |
GRASP_ROBOT_MODEL_PLUGINS | HIRO/Plug-in |
% make
Execute Choreonoid.
% bin/choreonoid
Fig 7. graspPlugin execution screen
In comparison to the build using Choreonoid alone, the toolbar now contains increased options due to the addition of graspPlugin. Furthermore, messages to the effect of “.... plug-in file being loaded” and “... plug-in being activated” are displayed in the message tab.