Thormang3_simulator.md

@robogeekcanada

ROBOTIS THORMANG MPC

THOR -Tactical Hazardous Operations Robot - is an affordable, full size humanoid robot platform with advanced computational power, sophisticated sensors, high payload capacity, and dynamic motion abilities to enable many exciting researches and educational activities.

Source: http://wiki.ros.org/thormang3_mpc

1. Install Dependent Packages

ROBOTIS MATH

$ cd
$ mkdir -p robotis_math/src
$ cd robotis_math/src 
$ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Math.git
$ cd ..
$ catkin_make
$ echo 'source ~/robotis_math/devel/setup.bash'>>~/.bashrc
$ source ~/.bashrc

DYNAMIXEL SDK

$ cd
$ mkdir -p dynamixel_sdk/src
$ cd dynamixel_sdk/src 
$ git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git
$ cd ..
$ catkin_make
$ echo 'source ~/dynamixel_sdk/devel/setup.bash'>>~/.bashrc
$ source ~/.bashrc

DYNAMIXEL WORKBENCH MSGS

$ cd
$ mkdir -p dynamixel_workbench_msgs/src
$ cd dynamixel_workbench_msgs/src 
$ git clone https://github.com/ROBOTIS-GIT/dynamixel-workbench-msgs.git
$ cd ..
$ catkin_make
$ echo 'source ~/dynamixel_workbench_msgs/devel/setup.bash'>>~/.bashrc
$ source ~/.bashrc

DYNAMIXEL WORKBENCH

$ cd
$ mkdir -p dynamixel_workbench/src
$ cd dynamixel_workbench/src 
$ git clone https://github.com/ROBOTIS-GIT/dynamixel-workbench.git
$ cd ..
$ catkin_make
$ echo 'source ~/dynamixel_workbench/devel/setup.bash'>>~/.bashrc
$ source ~/.bashrc

ROBOTIS FRAMEWORK MSGS

$ cd
$ mkdir -p robotis_framework_msgs/src
$ cd robotis_framework_msgs/src 
$ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Framework-msgs.git
$ cd ..
$ catkin_make
$ echo 'source ~/robotis_framework_msgs/devel/setup.bash'>>~/.bashrc
$ source ~/.bashrc

ROBOTIS FRAMEWORK COMMON

$ cd
$ mkdir -p robotis_framework/src
$ cd robotis_framework/src 
$ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Framework.git
$ cd ..
$ catkin_make
$ echo 'source ~/robotis_framework/devel/setup.bash'>>~/.bashrc
$ source ~/.bashrc

THORMANG3 ACTION MODULE MSGS

$ cd
$ mkdir -p thormang3_msgs/src
$ cd thormang3_msgs/src
$ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-THORMANG-msgs.git
$ cd ..
$ catkin_make
$ echo 'source ~/thormang3_msgs/devel/setup.bash'>>~/.bashrc
$ source ~/.bashrc

ROBOTIS THORMANG COMMON

$ cd
$ mkdir -p thormang_common/src
$ cd thormang_common/src 
$ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-THORMANG-Common.git
$ cd ..
$ catkin_make
$ echo 'source ~/thormang_common/devel/setup.bash'>>~/.bashrc
$ source ~/.bashrc

ROBOTIS WORKSPACE

$ cd
$ mkdir -p robotis_ws/src
$ cd robotis_ws/src 
$ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-THORMANG-MPC.git
$ cd ..
$ catkin_make
$ echo 'source ~/robotis_ws/devel/setup.bash'>>~/.bashrc
$ source ~/.bashrc

2. Simulation

$ roslaunch thormang3_gazebo robotis_world2.launch

Fixed robotis_world.launch file by removing .py from xacro.py and renamed it to robotis_world2.launch

Works like a charm. Haven't tested the rest of functionality but suggest you go over this tutorial to test: https://emanual.robotis.com/docs/en/platform/thormang3/gazebo_simulation/#gazebo-simulation

Happy Coding!