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mc_openrtm

License Hosted By: Cloudsmith

This package is an OpenRTM interface for mc_rtc

Dependencies

This package comes with a sample choreonoid project using the JVRC1 robot model. To install this project you need to have Choreonoid installed as well.

Usage

Run the sim_mc.cnoid project for JVRC, for example:

$ cd /usr/share/hrpsys/samples/JVRC1
$ choreonoid sim_mc.cnoid

The control component is started automatically when you start the dynamic simulation.

Other simulation files provided by default:

Making a new project

There are two important components to include in your Choreonoid project:

The simulation script instantiates real-time components and binds their ports together. Most of them are standard components from hrpsys (sequence player, state holder, data logger, etc.).