{"id":19963281,"url":"https://github.com/advrhumanoids/concert_description","last_synced_at":"2025-11-24T20:05:04.985Z","repository":{"id":65011449,"uuid":"553053159","full_name":"ADVRHumanoids/concert_description","owner":"ADVRHumanoids","description":"ROS package containing modular's simulation scripts and launch files","archived":false,"fork":false,"pushed_at":"2025-02-11T11:53:30.000Z","size":111865,"stargazers_count":7,"open_issues_count":13,"forks_count":6,"subscribers_count":8,"default_branch":"master","last_synced_at":"2025-02-11T12:38:17.723Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"CMake","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/ADVRHumanoids.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2022-10-17T16:33:04.000Z","updated_at":"2024-09-19T14:24:05.000Z","dependencies_parsed_at":"2024-04-23T09:05:42.278Z","dependency_job_id":"82d7fa47-03b1-4f83-be38-38909a2cd36e","html_url":"https://github.com/ADVRHumanoids/concert_description","commit_stats":null,"previous_names":[],"tags_count":29,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2Fconcert_description","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2Fconcert_description/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2Fconcert_description/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2Fconcert_description/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ADVRHumanoids","download_url":"https://codeload.github.com/ADVRHumanoids/concert_description/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":241396755,"owners_count":19956405,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-13T02:15:29.628Z","updated_at":"2025-11-24T20:05:04.874Z","avatar_url":"https://github.com/ADVRHumanoids.png","language":"CMake","funding_links":[],"categories":[],"sub_categories":[],"readme":"# concert_description\nROS package containing modular's simulation scripts and launch files\n\n## Docker image\nA ready-to-use Docker container is provided, and it can be executed with `.docker/run-docker.bash`. Upon\nfirst execution, a lot of data might be downloaded. The container can be used to follow the rest \nof this readme.\n\nTo **update the image** to the latest version\n```bash\ndocker pull arturolaurenzi/concert_description\n```\n\nTo **locally build the image** \n```bash\n.docker/build-docker.bash [--no-cache] \n```\n\n## Dependencies\n\n - ROS (desktop full is recommended, `moveit-core`)\n - XBot2 binaries (see [here](https://advrhumanoids.github.io/xbot2/quickstart.html#system-setup) for instructions)\n - The [modular](https://github.com/ADVRHumanoids/modular_hhcm) Python3 package (will be installed by [forest](https://github.com/ADVRHumanoids/forest))\n \n## Setup\nIn addition to using Docker, you can setup concert_description using [forest](https://github.com/ADVRHumanoids/forest). \n\n1. **Install forest**:\n```\n[sudo] pip3 install hhcm-forest\n```\n\n2. Create a **forest workspace**. We are going to call it *concert_ws* for the sake of this example:\n```\nmkdir concert_ws \u0026\u0026 cd concert_ws\n```\n\n3. **Initialize** the forest workspace and **add recipes**: \n```\nforest init\nsource setup.bash\necho \"source $PWD/setup.bash\" \u003e\u003e /home/USER/.bashrc\nforest add-recipes git@github.com:advrhumanoids/multidof_recipes.git --tag master \n```\nWhere you should substitute USER with your username.\n\n*Optional*: If you don't have any ssh key set up in your system run also:\n```\nexport HHCM_FOREST_CLONE_DEFAULT_PROTO=https\n```\nand consider adding it to the .bashrc\n\n4. Finally, just run:\n```\nforest grow concert_description\n```\nwhich will clone this repo and install the [modular](https://github.com/ADVRHumanoids/modular_hhcm) package. \n\nIf you have the **XBot2 binaries** installed you are ready to simulate the CONCERT robot!\n\n---\n\n*P.S.* If you want to run also [this IK example](https://github.com/ADVRHumanoids/concert_description#move-the-base-with-ik) remember to also run:\n```\nforest grow centauro_cartesio -j 4\n```\n\n\n\u003c!-- Drop into a catkin workspace's `src/` folder. If you're using `catkin_tools`, you might need to build the workspace. --\u003e\n \n## Quickstart (CONCERT example)\n\n#### Launch the simulation environment, including the `xbot2` process\n```\nmon launch concert_gazebo concert.launch [rviz:=true]\n```\n![Screenshot from 2022-10-17 18-44-46](https://user-images.githubusercontent.com/22152172/196235597-9850b985-72cf-4bfd-a0e3-28dedcb12420.png)\n![MicrosoftTeams-image (4)](https://user-images.githubusercontent.com/22152172/209342651-12d59ce9-7d62-43fe-8a55-970304862c75.png)\n\n*Note*: For selecting to simulate **sensors** or not, the launch file accepts also a series of additional arguments. \nFor example to run a simulation that will load also the gazebo plugins for the **Realsense cameras**, the **Velodyne lidars** and the **ultrasound sensors** run:\n```\nmon launch concert_gazebo concert.launch realsense:=true velodyne:=true ultrasound:=true\n```\nYou'll need to have the proper dependencies installed in your setup in order for sensor simulation to work. See the [forest recipe for this package](https://github.com/ADVRHumanoids/multidof_recipes/blob/master/recipes/concert_description.yaml).\n\n#### Launch XBot2's monitoring GUI\n```\nxbot2-gui\n```\n\n#### Run a homing motion (it is a default, simple real-time plugin)\n```\nrosservice call /xbotcore/homing/switch 1\n```\nor click *Start* on the GUI, next to the *homing* label. \n\n![Screenshot from 2022-10-17 18-43-39](https://user-images.githubusercontent.com/22152172/196235414-8a4d1282-0122-416d-bf4a-04242abe7d32.png)\n\n#### Enable robot control via ROS\n```\nrosservice call /xbotcore/ros_ctrl/switch 1\n```\nor click *Start* on the GUI, next to the *ros_ctrl* label. NOTE: you must not publish messages on the `/xbotcore/command` topic when starting this module!\nMessages published on the `/xbotcore/command` topic are now forwarded to the simulator. This can be done (for debugging purposes) also via the GUI's sliders.\n\n#### Move the base with IK \nFirst, make sure that the *ros_ctrl* module is enable, and that the robot arm is not in a singular configuration (e.g., run the homing module once). Then, invoke the following launch file\n```\nmon launch concert_cartesio concert.launch xbot:=true gui:=true\n```\n![Screenshot from 2022-10-17 18-51-15](https://user-images.githubusercontent.com/22152172/196236956-f50d8b5a-fea2-4c0a-865f-bfdf74d216f0.png)\nThen, right-click on the interactive marker, and select *Continuous Ctrl*. Move the marker around, and see the resulting motion in Gazebo.\n\n**Note** that this last part requires additional dependencies (see also `setup-docker.bash`), that can be installed via the *hhcm-forest* tool. Follow instructions from [here](https://github.com/ADVRHumanoids/multidof_recipes) and then invoke\n```\nforest grow centauro_cartesio\n```\n\n**Note** to control the base in velocity mode (i.e., via `geometry_msgs/TwistStamped` messages), you must first invoke the following ROS service:\n```\nrosservice call /cartesian/base_link/set_control_mode velocity\n```\nUpon succesful return, you can move the base by *continuously* sending velocity commands to the topic `/cartesian/base_link/velocity_reference`; note that the `msg.header.frame_id` field of the published messages can be usefully set to `base_link` in order to have the commanded twist interpreted w.r.t. the local frame.\n\n## Deploy instructions\n\nWhen launching the simulation environment (`mon launch concert_gazebo concert.launch`) a Python file is used to generate the robot model and write the URDF, SRDF, etc. By default this file is the `concert_example.py` script in `concert_examples`, although it can be changed by passing the path to another script to the `modular_description` argument of the launch file.\n\nExecuting the Python script, the required files will be generated in the `/tmp` folder and will be used by Gazebo, XBot2, etc. To save these files in a non-temporary folder the **deploy** argument can be passed to the Python script. For instance running:\n```\nroscd concert_examples\npython3 concert_example.py --deploy ~/concert_ws/ros_src/ --robot-name my_concert_package\n```\nwill deploy a **ROS package** called `my_concert_package` in the `~/concert_ws/ros_src` directory. This can now be used as an independent ROS package, that can be shared or stored as usual.\n\n## Further documentation\n\nThe robot API: https://advrhumanoids.github.io/XBotInterface/\n\nXBot2: https://advrhumanoids.github.io/xbot2/ , https://github.com/ADVRHumanoids/xbot2_examples\n\nCartesIO: https://advrhumanoids.github.io/CartesianInterface/\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fadvrhumanoids%2Fconcert_description","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fadvrhumanoids%2Fconcert_description","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fadvrhumanoids%2Fconcert_description/lists"}