Example launcher

README.md

Choreonoid + graspPlugin

First of all, please install ROS1 through hlab-nxo-setup, and configure ~/.bashrc.

1. git clone http://spica.ms.t.kanazawa-u.ac.jp/gitlab/tsuji/grasp-plugin.git -b <branch> and enter your credential.
2. git clone https://github.com/choreonoid/choreonoid.git --depth 1 -b v1.7.0
3. ln -s `realpath ./grasp-plugin` ./choreonoid/ext/graspPlugin
4. source ./choreonoid/misc/script/install-requisites-ubuntu-18.04.sh && sudo apt install cmake-qt-gui gnome-terminal dbus-x11 -y
5. mkdir ./build-choreonoid
6. cmake-gui
7. 
8. 
9. Change GRASP_PLUGINS, GRASP_ROBOT_MODELS_PLUGINS, and then re-configure. GRASP_PLUGINS is which subdirectories to add to configuration. GRASP_ROBOT_MODELS_PLUGINS is which IK plugins to build & load in runtime. For example, if you use nextage, GRASP_ROBOT_MODELS_PLUGINS is HIRO/Plugin.
10. 
11. cd build-choreonoid/
12. LIBRARY_PATH=/opt/ros/${ROS_DISTRO:-melodic}/lib make -j`nproc` -k && cd ..

gnome-terminal --window -e "bash -c \"sleep 3; ./hlab-nxo-setup/externals/eclipse/eclipse -debug -console; exec bash\"" \
--tab -e "bash -c \" ./choreonoid/ext/graspPlugin/RobotInterface/Nextage/THK/HandManipProvider.py; exec bash\"" \
--tab -e "bash -c \" ./choreonoid/ext/graspPlugin/RobotInterface/Nextage/PortDuplicator/PortDuplicator.py; exec bash\"" \
--tab -e "bash -c \" cd ./choreonoid/ext/graspPlugin/RobotInterface/Nextage/NextageInterface; ./HiroNXProvider.py;exec bash\"" \
--tab -e "bash -c \" ./hlab-nxo-setup/externals/hironx-interface/HiroNXInterface/HiroNXGUI/WxHiroNXGUI.py; exec bash\"" 

14. ./build-choreonoid/bin/choreonoid

example.sh

#!/bin/bash
git clone https://github.com/choreonoid/choreonoid.git --depth 1 -b v1.7.0
ln -s `realpath ./grasp-plugin` ./choreonoid/ext/graspPlugin
source ./choreonoid/misc/script/install-requisites-ubuntu-18.04.sh && sudo apt install cmake-qt-gui gnome-terminal dbus-x11 -y
mkdir ./build-choreonoid && cd ./build-choreonoid
cmake ../choreonoid -DGRASP_ROBOT_MODELS_PLUGINS=HIRO/Plugin -DGRASP_PLUGINS=Grasp\;PRM\;GeometryHandler\;RobotInterface
LIBRARY_PATH=/opt/ros/${ROS_DISTRO:-melodic}/lib make -j`nproc` -k && cd ..

OpenRTP.md