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rename to eus_teleop #48

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94 changes: 47 additions & 47 deletions CHANGELOG.rst
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6 changes: 3 additions & 3 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 2.8.3)
project(eus_vive)
project(eus_teleop)

find_package(catkin
REQUIRED
Expand All @@ -9,8 +9,8 @@ find_package(catkin

add_message_files(
FILES
EusViveStatus.msg
EusViveStatusArray.msg
EusTeleopStatus.msg
EusTeleopStatusArray.msg
)

generate_messages(
Expand Down
96 changes: 48 additions & 48 deletions README.md
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
# eus_vive
# eus_teleop

[![main](https://github.com/knorth55/eus_vive/actions/workflows/main.yml/badge.svg)](https://github.com/knorth55/eus_vive/actions/workflows/main.yml)
[![linter](https://github.com/knorth55/eus_vive/actions/workflows/linter.yaml/badge.svg)](https://github.com/knorth55/eus_vive/actions/workflows/linter.yaml)
[![main](https://github.com/knorth55/eus_teleop/actions/workflows/main.yml/badge.svg)](https://github.com/knorth55/eus_teleop/actions/workflows/main.yml)
[![linter](https://github.com/knorth55/eus_teleop/actions/workflows/linter.yaml/badge.svg)](https://github.com/knorth55/eus_teleop/actions/workflows/linter.yaml)

Multi robot teleoperation system with Vive/SpaceNav/Oculus/Tablis Cockpit

Expand Down Expand Up @@ -118,28 +118,28 @@ catkin config
catkin build
```

#### Build `eus_vive` workspace
#### Build `eus_teleop` workspace

```bash
source /opt/ros/$ROS_DISTRO/setup.bash
mkdir ~/vive_ws/src -p
cd ~/vive_ws/src
wstool init . https://raw.githubusercontent.com/knorth55/eus_vive/master/fc.rosinstall
mkdir ~/teleop_ws/src -p
cd ~/teleop_ws/src
wstool init . https://raw.githubusercontent.com/knorth55/eus_teleop/master/fc.rosinstall

# Only for baxter users
wstool merge https://raw.githubusercontent.com/knorth55/eus_vive/master/baxter.rosinstall
wstool merge https://raw.githubusercontent.com/knorth55/eus_vive/master/baxter.rosinstall.$ROS_DISTRO
wstool merge https://raw.githubusercontent.com/knorth55/eus_teleop/master/baxter.rosinstall
wstool merge https://raw.githubusercontent.com/knorth55/eus_teleop/master/baxter.rosinstall.$ROS_DISTRO

# Only for dragon users
wstool merge https://raw.githubusercontent.com/knorth55/eus_vive/master/dragon.rosinstall
wstool merge https://raw.githubusercontent.com/knorth55/eus_teleop/master/dragon.rosinstall

wstool up
rosdep install --ignore-src --from-path . -y -r -i

# Only for baxter users
source ~/jsk_apc_ws/devel/setup.bash

cd ~/vive_ws
cd ~/teleop_ws
catkin config
catkin build
```
Expand Down Expand Up @@ -175,16 +175,16 @@ https://user-images.githubusercontent.com/9300063/213145161-4b2acb89-9545-460a-b
rossetip
rossetmaster pr1040
# HMD mode
roslaunch eus_vive pr2_vive.launch
roslaunch eus_teleop pr2_vive.launch
# No HMD mode
roslaunch eus_vive pr2_vive.launch head:=false
roslaunch eus_teleop pr2_vive.launch head:=false
```

#### PR2 + Vive in Gazebo

```bash
roslaunch pr2_gazebo pr2_empty_world.launch
roslaunch eus_vive pr2_vive_gazebo.launch
roslaunch eus_teleop pr2_vive_gazebo.launch
```

### PR2 + Tablis
Expand All @@ -196,20 +196,20 @@ https://user-images.githubusercontent.com/9300063/208720417-176d698e-3789-42a8-9
```bash
rossetip
rossetmaster pr1040
roslaunch eus_vive pr2_tablis.launch
roslaunch eus_teleop pr2_tablis.launch
```

#### PR2 + Tablis in Gazebo

##### Launch Tablis in Choreonoid

```bash
roscd eus_vive/scripts/tablis
roscd eus_teleop/scripts/tablis
./start-tablis-sim.sh
```

```bash
roscd eus_vive/scripts/tablis
roscd eus_teleop/scripts/tablis
ipython -i tablis_setup.py
hcf.servoOn()
hcf.hc_svc.startHapticsController()
Expand All @@ -218,15 +218,15 @@ hcf.hc_svc.startHapticsController()
##### Launch bridge

```bash
roscd eus_vive/scripts/tablis
roscd eus_teleop/scripts/tablis
./start-bridge-sim.sh
```

##### Launch PR2 in Gazebo

```bash
roslaunch pr2_gazebo pr2_empty_world.launch
roslaunch eus_vive pr2_tablis_gazebo.launch
roslaunch eus_teleop pr2_tablis_gazebo.launch
```

### PR2 + SpaceNav
Expand All @@ -238,14 +238,14 @@ https://user-images.githubusercontent.com/9300063/213137459-ce5f7075-acee-4a47-9
```bash
rossetip
rossetmaster pr1040
roslaunch eus_vive pr2_spacenav.launch
roslaunch eus_teleop pr2_spacenav.launch
```

#### PR2 + SpaceNav in Gazebo

```bash
roslaunch pr2_gazebo pr2_empty_world.launch
roslaunch eus_vive pr2_spacenav_gazebo.launch
roslaunch eus_teleop pr2_spacenav_gazebo.launch
```

### Baxter + Vive
Expand All @@ -259,7 +259,7 @@ https://user-images.githubusercontent.com/9300063/213144997-0d224d5c-b462-43a7-b
```bash
rossetip
rossetmaster baxter
roslaunch eus_vive baxter_remote.launch
roslaunch eus_teleop baxter_remote.launch
```

##### Vive PC
Expand All @@ -268,16 +268,16 @@ roslaunch eus_vive baxter_remote.launch
rossetip
rossetmaster baxter
# No HMD mode
roslaunch eus_vive baxter_vive_remote.launch
roslaunch eus_teleop baxter_vive_remote.launch
# for display
roslaunch eus_vive baxter_display_remote.launch
roslaunch eus_teleop baxter_display_remote.launch
```

#### Baxter + Vive in Gazebo

```bash
roslaunch baxter_gazebo baxter_world.launch
roslaunch eus_vive baxter_vive_gazebo.launch
roslaunch eus_teleop baxter_vive_gazebo.launch
```

### Baxter + Tablis
Expand All @@ -289,20 +289,20 @@ https://user-images.githubusercontent.com/9300063/208720482-b7ef0abb-e948-448c-b
```bash
rossetip
rossetmaster baxter
roslaunch eus_vive baxter_tablis.launch
roslaunch eus_teleop baxter_tablis.launch
```

#### Baxter + Tablis in Gazebo

##### Launch Tablis in Choreonoid

```bash
roscd eus_vive/scripts/tablis
roscd eus_teleop/scripts/tablis
./start-tablis-sim.sh
```

```bash
roscd eus_vive/scripts/tablis
roscd eus_teleop/scripts/tablis
ipython -i tablis_setup.py
hcf.servoOn()
hcf.hc_svc.startHapticsController()
Expand All @@ -311,15 +311,15 @@ hcf.hc_svc.startHapticsController()
##### Launch bridge

```bash
roscd eus_vive/scripts/tablis
roscd eus_teleop/scripts/tablis
./start-bridge-sim.sh
```

##### Launch Baxter in Choreonoid

```bash
roslaunch baxter_gazebo baxter_world.launch
roslaunch eus_vive baxter_tablis_gazebo.launch
roslaunch eus_teleop baxter_tablis_gazebo.launch
```

### Baxter + SpaceNav
Expand All @@ -329,14 +329,14 @@ roslaunch eus_vive baxter_tablis_gazebo.launch
```bash
rossetip
rossetmaster baxter
roslaunch eus_vive baxter_spacenav.launch
roslaunch eus_teleop baxter_spacenav.launch
```

#### Baxter + SpaceNav in Gazebo

```bash
roslaunch baxter_gazebo baxter_world.launch
roslaunch eus_vive baxter_spacenav_gazebo.launch
roslaunch eus_teleop baxter_spacenav_gazebo.launch
```

### Baxter + MoveIt!
Expand All @@ -346,7 +346,7 @@ roslaunch eus_vive baxter_spacenav_gazebo.launch
```bash
rossetip
rossetmaster baxter
roslaunch eus_vive baxter_moveit.launch
roslaunch eus_teleop baxter_moveit.launch
```

### Dragon + SpaceNav
Expand All @@ -357,7 +357,7 @@ https://user-images.githubusercontent.com/9300063/210754022-7df92fd5-4875-4465-9

```bash
roslaunch dragon bringup.launch simulation:=true real_machine:=false headless:=false
roslaunch eus_vive dragon_spacenav_gazebo.launch
roslaunch eus_teleop dragon_spacenav_gazebo.launch
```

### JAXON + SpaceNav
Expand All @@ -369,12 +369,12 @@ https://user-images.githubusercontent.com/9300063/212047815-e1f2a5ed-cf51-4782-b
##### Launch JAXON in Choreonoid

```bash
roscd eus_vive/scripts/jaxon
roscd eus_teleop/scripts/jaxon
./start-jaxon_with_rhp3hand-sim.sh
```

```bash
roscd eus_vive/scripts/jaxon
roscd eus_teleop/scripts/jaxon
ipython -i jaxon_with_rhp3hand_setup.py
hcf.ast_svc.startAutoBalancer()
hcf.ast_svc.startStabilizer()
Expand All @@ -384,7 +384,7 @@ hcf.ast_svc.startWholeBodyMasterSlave()
##### Launch eus\_vive for SpaceNav

```bash
roslaunch eus_vive jaxon_spacenav_choreonoid.launch
roslaunch eus_teleop jaxon_spacenav_choreonoid.launch
```

### JAXON + Tablis
Expand All @@ -396,12 +396,12 @@ https://user-images.githubusercontent.com/9300063/212932317-407102d1-093f-4729-b
##### Launch Tablis in Choreonoid

```bash
roscd eus_vive/scripts/tablis
roscd eus_teleop/scripts/tablis
./start-tablis-sim.sh
```

```bash
roscd eus_vive/scripts/tablis
roscd eus_teleop/scripts/tablis
ipython -i tablis_setup.py
hcf.servoOn()
hcf.hc_svc.startHapticsController()
Expand All @@ -410,12 +410,12 @@ hcf.hc_svc.startHapticsController()
##### Launch JAXON in Choreonoid

```bash
roscd eus_vive/scripts/jaxon
roscd eus_teleop/scripts/jaxon
./start-jaxon_with_rhp3hand-sim.sh
```

```bash
roscd eus_vive/scripts/jaxon
roscd eus_teleop/scripts/jaxon
ipython -i jaxon_with_rhp3hand_setup.py
hcf.ast_svc.startAutoBalancer()
hcf.ast_svc.startStabilizer()
Expand All @@ -425,14 +425,14 @@ hcf.ast_svc.startWholeBodyMasterSlave()
##### Launch bridge and wbms core

```bash
roscd eus_vive/scripts/jaxon
./start-jaxon-eus-vive-sim.sh
roscd eus_teleop/scripts/jaxon
./start-jaxon-eus-teleop-sim.sh
```

##### Launch eus\_vive for Tablis

```bash
roslaunch eus_vive jaxon_tablis_choreonoid.launch
roslaunch eus_teleop jaxon_tablis_choreonoid.launch
```

### Demo & Experiments
Expand All @@ -442,7 +442,7 @@ roslaunch eus_vive jaxon_tablis_choreonoid.launch
```bash
rossetip
rossetmaster baxter
roslaunch eus_vive baxter_vive_mirror.launch
roslaunch eus_teleop baxter_vive_mirror.launch
```

#### Miraikan Demo 2020/09/11-13
Expand All @@ -452,23 +452,23 @@ roslaunch eus_vive baxter_vive_mirror.launch
```bash
rossetip
rossetmaster baxter
roslaunch eus_vive baxter_remote.launch
roslaunch eus_teleop baxter_remote.launch
```

##### Vive control PC (Pilot side)

```bash
rossetip
rossetmaster baxter
roslaunch eus_vive baxter_vive_remote.launch
roslaunch eus_teleop baxter_vive_remote.launch
```

##### Visualization, display and feedback PC (Pilot side)

```bash
rossetip
rossetmaster baxter
roslaunch eus_vive baxter_display_remote.launch
roslaunch eus_teleop baxter_display_remote.launch
```

## How to use Vive controller
Expand Down
10 changes: 5 additions & 5 deletions euslisp/baxter-vr-main.l → euslisp/baxter-teleop-main.l
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@@ -1,9 +1,9 @@
#!/usr/bin/env roseus

(require :baxter-vive-interface "package://eus_vive/euslisp/lib/baxter-vive-interface.l")
(require :baxter-oculus-interface "package://eus_vive/euslisp/lib/baxter-oculus-interface.l")
(require :baxter-spacenav-interface "package://eus_vive/euslisp/lib/baxter-spacenav-interface.l")
(require :baxter-tablis-interface "package://eus_vive/euslisp/lib/baxter-tablis-interface.l")
(require :baxter-vive-interface "package://eus_teleop/euslisp/lib/baxter-vive-interface.l")
(require :baxter-oculus-interface "package://eus_teleop/euslisp/lib/baxter-oculus-interface.l")
(require :baxter-spacenav-interface "package://eus_teleop/euslisp/lib/baxter-spacenav-interface.l")
(require :baxter-tablis-interface "package://eus_teleop/euslisp/lib/baxter-tablis-interface.l")


(defun vive-init (&key (lgripper :parallel) (rgripper :parallel) (loop-enable t))
Expand Down Expand Up @@ -39,7 +39,7 @@


(defun init (&key (lgripper :parallel) (rgripper :parallel) (loop-enable t) (device-type :vive))
(ros::roseus "baxter_vr_main" :anonymous nil)
(ros::roseus "baxter_teleop_main" :anonymous nil)
(cond
((eq device-type :vive)
(vive-init :lgripper lgripper :rgripper rgripper :loop-enable loop-enable))
Expand Down
4 changes: 2 additions & 2 deletions euslisp/dragon-vr-main.l → euslisp/dragon-teleop-main.l
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
#!/usr/bin/env roseus

(require :dragon-spacenav-interface "package://eus_vive/euslisp/lib/dragon-spacenav-interface.l")
(require :dragon-spacenav-interface "package://eus_teleop/euslisp/lib/dragon-spacenav-interface.l")


(defun spacenav-init (&key (loop-enable t))
Expand All @@ -10,7 +10,7 @@


(defun init (&key (loop-enable t) (device-type :spacenav))
(ros::roseus "dragon_vr_main" :anonymous nil)
(ros::roseus "dragon_teleop_main" :anonymous nil)
(cond
((eq device-type :spacenav)
(spacenav-init :loop-enable loop-enable))
Expand Down
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