cnoid_tank_pkgs's Introduction

Choreonoid is an open-source, lightweight, and extensible integrated graphical framework for robot development. You can develop your robots with various functions and resources of Choreonoid.

Functions

Model Visualization

Choreonoid works as a visualization tool. The provided GUI tools support editing model files, checking self-collisions, and calculating forward/inverse kinematics. Additionally, you can visualize sensor data, including camera images, point clouds, and forces/torques, on Choreonoid.

Dynamics Simulation

You can simulate the dynamics of robots and environments on Choreonoid. Light-load and accurate simulation environments accelerate your research and development on robot planning and control. Since the default physics engine is robust for contacts, Choreonoid has been utilized in the research on humanoid robots for over a decade.

Choreographing

Choreonoid provides a function for choreographing robot motions. Visualization tools and dynamics engines strongly support your motion editing. As an example, Choreonoid enabled the HRP-4C humanoid robot to dance with human dancers in 2010. You can see the video here.

Potential

Choreonoid has been used in various situations. Application examples are shown in the following figures and the fields of application range from research to industry and entertainment. One of the advanced features of Choreonoid is extensibility, so you can easily add your own plugins suitable for your project with plentiful resources provided by both Choreonoid and third parties.

Installation

To install Choreonoid, please see the installation page on the official document

ROS Support

ROS (currently, only ROS1) is supported. Please see our official document to set up Choreonoid with ROS.

Development

Choreonoid project is led by Dr. Shin'ichiro Nakaoka. After the start of the project in 2006, Choreonoid had been developed at National Institute of Advanced Industrial Science and Technology (AIST), Japan, until 2019. Currently, Choreonoid Inc. maintains this project.

License

Choreonoid is released under the MIT License.

Articles

Choreonoid was presented in the following articles:

S. Nakaoka, "Choreonoid: Extensible virtual robot environment built on an integrated GUI framework," 2012 IEEE/SICE International Symposium on System Integration (SII), 2012, pp. 79-85, doi: 10.1109/SII.2012.6427350. Best Paper Award (Robotics). [IEEE Xplore]
S. Nakaoka, "Choreonoid: Integrated Extensible GUI Environment for Robots," Journal of the Robotics Society of Japan, 2013, Vol. 31, Issue 3, pp. 226-231, 2013 doi: 10.7210/jrsj.31.226, written in Japanese. [J-STAGE]

Please refer to and/or cite them as necessary.

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cnoid_tank_pkgs's Issues

シミュレーション開始でChodeonoidが落ちる

Choreonoid開発版のドキュメントのROSとの連携に沿って，Ubuntu 20.04 + ROS Noetic環境でインストールを行いました．

roslaunch cnoid_tank_bringup rtf_plant.launch

を実行すると，Choreonoidが起動し，プラントの環境とタンクのモデルが表示されます．メッセージビューには何もエラーは出ていません．しかし，Start simulation from beginningをクリックすると，Choreonoidが落ちます．ローンチから落ちた時点までに端末に表示された内容を以下に付けます．

... logging to /home/ubuntu/.ros/log/7931542e-df2d-11ec-ac76-0242ac110002/roslaunch-906b47b223e3-3360.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://127.0.0.1:34043/

SUMMARY
========

PARAMETERS
 * /Tank/base_controller/angular/z/has_acceleration_limits: True
 * /Tank/base_controller/angular/z/has_velocity_limits: True
 * /Tank/base_controller/angular/z/max_acceleration: 1.57
 * /Tank/base_controller/angular/z/max_velocity: 6.28
 * /Tank/base_controller/angular/z/min_acceleration: -1.57
 * /Tank/base_controller/angular/z/min_velocity: -6.28
 * /Tank/base_controller/cmd_vel_timeout: 1.0
 * /Tank/base_controller/enable_odom_tf: False
 * /Tank/base_controller/left_wheel: TRACK_L
 * /Tank/base_controller/linear/x/has_acceleration_limits: True
 * /Tank/base_controller/linear/x/has_velocity_limits: True
 * /Tank/base_controller/linear/x/max_acceleration: 1.0
 * /Tank/base_controller/linear/x/max_velocity: 4.0
 * /Tank/base_controller/linear/x/min_acceleration: -1.0
 * /Tank/base_controller/linear/x/min_velocity: -4.0
 * /Tank/base_controller/pose_covariance_diagonal: [0.001, 0.001, 10...
 * /Tank/base_controller/publish_rate: 50.0
 * /Tank/base_controller/right_wheel: TRACK_R
 * /Tank/base_controller/twist_covariance_diagonal: [0.001, 0.001, 10...
 * /Tank/base_controller/type: diff_drive_contro...
 * /Tank/base_controller/wheel_radius: 1.0
 * /Tank/base_controller/wheel_radius_multiplier: 1.0
 * /Tank/base_controller/wheel_separation: 0.44
 * /Tank/base_controller/wheel_separation_multiplier: 1.0
 * /Tank/robot_description: <?xml version="1....
 * /Tank/turret_controller/gains/TURRET_P/d: 1
 * /Tank/turret_controller/gains/TURRET_P/i: 10
 * /Tank/turret_controller/gains/TURRET_P/p: 100
 * /Tank/turret_controller/gains/TURRET_Y/d: 1
 * /Tank/turret_controller/gains/TURRET_Y/i: 10
 * /Tank/turret_controller/gains/TURRET_Y/p: 100
 * /Tank/turret_controller/joints: ['TURRET_Y', 'TUR...
 * /Tank/turret_controller/type: position_controll...
 * /rosdistro: noetic
 * /rosversion: 1.15.14
 * /use_sim_time: True

NODES
  /
    choreonoid_ros (choreonoid_ros/choreonoid)
    tank_controller_spawner (controller_manager/spawner)
  /Tank/
    robot_state_publisher (robot_state_publisher/robot_state_publisher)

ROS_MASTER_URI=http://127.0.0.1:11311

process[choreonoid_ros-1]: started with pid [3376]
process[Tank/robot_state_publisher-2]: started with pid [3377]
process[tank_controller_spawner-3]: started with pid [3378]
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-ubuntu'
[INFO] [1653816975.172670, 0.000000]: Controller Spawner: Waiting for service Tank/controller_manager/load_controller
[WARN] [1653817005.330036, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[tank_controller_spawner-3] process has finished cleanly
log file: /home/ubuntu/.ros/log/7931542e-df2d-11ec-ac76-0242ac110002/tank_controller_spawner-3*.log
[tank_controller_spawner-3] restarting process
process[tank_controller_spawner-3]: started with pid [3449]
[INFO] [1653817006.258564, 0.000000]: Controller Spawner: Waiting for service Tank/controller_manager/load_controller
[WARN] [1653817036.462038, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[tank_controller_spawner-3] process has finished cleanly
log file: /home/ubuntu/.ros/log/7931542e-df2d-11ec-ac76-0242ac110002/tank_controller_spawner-3*.log
[tank_controller_spawner-3] restarting process
process[tank_controller_spawner-3]: started with pid [3473]
[INFO] [1653817037.378991, 0.000000]: Controller Spawner: Waiting for service Tank/controller_manager/load_controller
[INFO] [1653817037.681626, 0.000000]: Controller Spawner: Waiting for service Tank/controller_manager/switch_controller
[INFO] [1653817037.683365, 0.000000]: Controller Spawner: Waiting for service Tank/controller_manager/unload_controller
[INFO] [1653817037.684932, 0.000000]: Loading controller: turret_controller
[INFO] [1653817037.697499, 0.000000]: Loading controller: base_controller
[INFO] [1653817037.716302, 0.000000]: Controller Spawner: Loaded controllers: turret_controller, base_controller
terminate called after throwing an instance of 'std::runtime_error'
  what():  Time is out of dual 32-bit range
[INFO] [1653817039.239208, 0.000000]: Started controllers: turret_controller, base_controller
[choreonoid_ros-1] process has died [pid 3376, exit code -6, cmd /home/ubuntu/cnoid_ws/devel/lib/choreonoid_ros/choreonoid /home/ubuntu/cnoid_ws/src/cnoid_tank_pkgs/cnoid_tank_bringup/project/RTFPlant/Tank.cnoid __name:=choreonoid_ros __log:=/home/ubuntu/.ros/log/7931542e-df2d-11ec-ac76-0242ac110002/choreonoid_ros-1.log].
log file: /home/ubuntu/.ros/log/7931542e-df2d-11ec-ac76-0242ac110002/choreonoid_ros-1*.log

昨年の夏頃は，Ubuntu 18.04ですが，正常に動作していたと記憶しています．

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