Installation of Choreonoid with mc_rtc

[ghost]

Hi Dr Caron,

I have installed all dependencies and also installed mc_rtc successfully with cmake/make/make install. I couldn't install mc_rtc with ./build_and_install.sh ,because I wanted to use Choreonoid instead of V-REP.

After that I installed hrpsys and mc_openrtm to use with Choreonoid. In the next step I installed Choreonoid and now I want to import my robot model into Choreonoid and connect the mc_rtc to it. But it is not included in the tutorial. First, I don't know how should I import my robot in Choreonoid. I can see some packages in mc_openrtm with .cnoid files. Should I make the same files for my robot? If yes, is there any generator for them and if the answer is no how should I import my robot in choreonoid?

Also, I would like to know how should I connect Choreonoid to mc_rtc. There is a plugin for Choreonoid which connects Choreonoid to ROS. Should I use that one or there is another way?

Thank you
Regards

[stephane-caron]

OK great. Note that your questions are actually not related to the LIPM walking controller, rather to its dependencies. I will give you some first pointers here, and direct you to the correct issue tracker to continue the discussion.

How to import your robot model in Choreonoid?

For this, you will need to convert your robot model to VRML. There is documentation for this process in the OpenHRP user's manual such as:

• Overview of the VRML format
• Sample humanoid model in VRML

There are also some scripts to automate the conversion from and to VRML in the simtrans repository.

How to connect mc_rtc and Choreonoid

The good place to discuss this is in the issue tracker of the mc_openrtm project. Let's continue the discussion there, where @gergondet and other competent people can give you feedback.

[ghost]

Thank you Dr.Caron for your respond.