http://www.lcad.inf.ufes.br/wiki/index.php?action=history&feed=atom&title=Readme_alberto.txt 2026-04-29T15:19:36Z Histórico de revisões para esta página neste wiki MediaWiki 1.30.0 http://www.lcad.inf.ufes.br/wiki/index.php?title=Readme_alberto.txt&diff=80503&oldid=prev 2013-06-05T13:17:06Z

<p></p> <table class="diff diff-contentalign-left" data-mw="interface"> <col class="diff-marker" /> <col class="diff-content" /> <col class="diff-marker" /> <col class="diff-content" /> <tr style="vertical-align: top;" lang="pt-BR"> <td colspan="2" style="background-color: white; color:black; text-align: center;">← Edição anterior</td> <td colspan="2" style="background-color: white; color:black; text-align: center;">Edição das 13h17min de 5 de junho de 2013</td> </tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l51" >Linha 51:</td> <td colspan="2" class="diff-lineno">Linha 51:</td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>edite os arquivos drcsim-2.6.2/ros/atlas_msgs/actionlib_server.cpp e drcsim-2.6.2/ros/atlas_msgs/actionlib_server.h.</div></td><td class='diff-marker'>&#160;</td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>edite os arquivos drcsim-2.6.2/ros/atlas_msgs/actionlib_server.cpp e drcsim-2.6.2/ros/atlas_msgs/actionlib_server.h.</div></td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>Para compilar o codigo alterado:</div></td><td class='diff-marker'>&#160;</td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>Para compilar o codigo alterado:</div></td></tr> <tr><td class='diff-marker'>−</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>&#160; cd <del class="diffchange diffchange-inline">drcsim-2.6.2/debug/</del>ros/atlas_msgs</div></td><td class='diff-marker'>+</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>&#160; cd ros/atlas_msgs</div></td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>&#160; make</div></td><td class='diff-marker'>&#160;</td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>&#160; make</div></td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>&#160; &#160;</div></td><td class='diff-marker'>&#160;</td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>&#160; &#160;</div></td></tr> </table>

Administrador http://www.lcad.inf.ufes.br/wiki/index.php?title=Readme_alberto.txt&diff=80490&oldid=prev 2013-06-04T19:40:34Z

<p>Criou página com &#039;Para compilar, antes instale os prerrequisitos: sudo apt-get update * Install gazebo&#039;s dependencies sudo apt-get install -y cmake debhelper libfreeimage-dev libprotoc-dev \ ...&#039;</p> <p><b>Página nova</b></p><div>Para compilar, antes instale os prerrequisitos:<br /> sudo apt-get update<br /> * Install gazebo's dependencies<br /> sudo apt-get install -y cmake debhelper libfreeimage-dev libprotoc-dev \<br /> libprotobuf-dev protobuf-compiler freeglut3-dev \<br /> libcurl4-openssl-dev libtinyxml-dev libtar-dev \<br /> libtbb-dev libogre-dev libxml2-dev pkg-config \<br /> libqt4-dev ros-fuerte-urdfdom ros-fuerte-console-bridge \<br /> libltdl-dev libboost-thread-dev libboost-signals-dev \<br /> libboost-system-dev libboost-filesystem-dev \<br /> libboost-program-options-dev libboost-regex-dev \<br /> libboost-iostreams-dev robot-player-dev libcegui-mk2-dev \<br /> libavformat-dev libavcodec-dev libswscale-dev libbullet-dev<br /> * Install osrf-common's dependencies<br /> sudo apt-get install -y cmake debhelper ros-fuerte-ros ros-fuerte-ros-comm<br /> * Install sandia-hand's dependencies<br /> sudo apt-get install -y cmake debhelper ros-fuerte-xacro ros-fuerte-ros \<br /> libboost-dev ros-fuerte-image-common \<br /> ros-fuerte-ros-comm ros-fuerte-common-msgs \<br /> avr-libc gcc-avr libqt4-dev<br /> * Install drcsim's dependencies<br /> sudo apt-get install -y cmake debhelper ros-fuerte-pr2-mechanism \<br /> ros-fuerte-std-msgs ros-fuerte-common-msgs \<br /> ros-fuerte-image-common ros-fuerte-geometry \<br /> ros-fuerte-pr2-controllers ros-fuerte-geometry-experimental \<br /> ros-fuerte-robot-model-visualization ros-fuerte-image-pipeline \<br /> ros-fuerte-image-transport-plugins<br /> <br /> Compile:<br /> cd drcsim-2.6.2<br /> mkdir debug<br /> cd debug<br /> . /opt/ros/fuerte/setup.sh<br /> . /usr/share/gazebo/setup.sh<br /> cd ~/ros/drcsim-2.6.2/plugins/AtlasSimInterface_1.1.0/lib64<br /> ln -s libAtlasSimInterface.1.1.0 libAtlasSimInterface.so<br /> ln -s libAtlasSimInterface.1.1.0 libAtlasSimInterface.so.1.1<br /> cd -<br /> cmake -DCMAKE_BUILD_TYPE=Debug ..<br /> make<br /> <br /> Correntemente, estou trabalhando no actionlib_sever (drcsim-2.6.2/ros/atlas_msgs/actionlib_server.cpp).<br /> Este programa faz a interface entre o programa em python de controle do robo e o proprio robo.<br /> Ele recebe mensagens do programa em pyhton e manda as mensagens para o robo. Alem disso, ele<br /> recebe mensagens de feedback do robo e pode melhor ajustar os comandas para atender ao que<br /> o usuario demandou via python.<br /> <br /> Para saber mais: http://gazebosim.org/wiki/DRC/UserGuide#Boston_Dynamics_Atlas_Simulation_Behavior_Library_.28AtlasSimInterface.29<br /> <br /> Para alterar o codigo do actionlib_sever, apos executar os passos de compilacao (mencionados acima),<br /> edite os arquivos drcsim-2.6.2/ros/atlas_msgs/actionlib_server.cpp e drcsim-2.6.2/ros/atlas_msgs/actionlib_server.h.<br /> Para compilar o codigo alterado:<br /> cd drcsim-2.6.2/debug/ros/atlas_msgs<br /> make<br /> <br /> Para usar o actionlib_sever basta executar o binario drcsim-2.6.2/debug/ros/atlas_msgs/bin/actionlib_server.<br /> Alternativamente, voce pode fazer um link do binario drcsim-2.6.2/debug/ros/atlas_msgs/bin/actionlib_server para<br /> dentro do diretorio bin de um pkg ros:<br /> roscd lcad_ufes_vrc_task1<br /> make<br /> cd bin<br /> ln -s ../../drcsim-2.6.2/debug/ros/atlas_msgs/bin/actionlib_server .<br /> <br /> E criar um arquivo launch que use este actionlib_sever. O launch lcad_ufes_vrc_qualify_task1-1.launch usa<br /> o actionlib_sever alterado. Para usa-lo, basta usar mecanismos usuais de launch:<br /> roslaunch lcad_ufes_vrc_qualify_task1 lcad_ufes_vrc_qualify_task1-1.launch</div>

Tiago Alves de Oliveira