Run your first simulation

hrpsys-gazebo-simulator command

The hrpsys-gazebo-simulator command loads and runs a simulation. It is called like follows:

$ hrpsys-gazebo-simulator [project file] [gazebo world file] [options]

Where project file is the xml file which defines system configuration (explained later). gazebo world file is the xml file which defines simulation world.

The hrpsys-gazebo-simulator command has following options:

-nodisplay

Headless mode.

-realtime

Synchronize to real world time.

-endless

Endless mode.

-h --help

Show help message.

Running sample project

Run following command to convert the robot model and create simulation world:

$ simtrans -i `pkg-config openhrp3.1 --variable=prefix`/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl -o $HOME/.gazebo/models/pa10.world

For project file, copy from hrpsys samples:

$ cp `pkg-config --variable=prefix hrpsys-base`/share/hrpsys/samples/PA10/PA10simulation.xml mysimulation.xml

Before running the simulation, open new terminal and run roscore service:

$ roscore

Open the project and simulation world in hrpsys-gazebo-simulator:

$ hrpsys-gazebo-simulator mysimulation.xml $HOME/.gazebo/models/pa10.world -endless

Interact with the simulation window

Simulation window is just as same as the gazebo.

To translate the simulation world left click and drag.

You can rotate the simulation world by shift key + left click and drag.