Features

Completely open source! (controller framework: mc_rtc, simulator: Choreonoid, sample robot model: JVRC1)
Accepts commands for trajectory and velocity of a loco-manipulation object.
Considers object manipulation forces on the hands in the balance control during loco-manipulation.
Automated management with CI: Dynamics simulation is run on CI to verify loco-manipulation.

Technical details

This controller is a simple extension of BaselineWalkingController for loco-manipulation.
For more information on walking control, see BaselineWalkingController.
For more information on the balance control in loco-manipulation considering object manipulation forces, please see the following paper:

M Murooka, et al. Humanoid loco-Manipulations pattern generation and stabilization control. RA-Letters, 2021. (available here)

Install

Requirements

Compiler supporting C++17
Tested with Ubuntu 20.04 / ROS Noetic and Ubuntu 18.04 / ROS Melodic

Dependencies

This package depends on

mc_rtc

This package also depends on the following packages. However, manual installation is unnecessary when this package is installed using wstool as described in Controller installation.

QpSolverCollection
ForceControlCollection
TrajectoryCollection
NMPC
CentroidalControlCollection
BaselineWalkingController
CnoidRosUtils (Only for Choreonoid simulation)

Preparation

(Skip if ROS is already installed.) Install ROS. See here for details.
$ export ROS_DISTRO=melodic

$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

$ wget http://packages.ros.org/ros.key -O - | sudo apt-key add -

$ sudo apt-get update

$ sudo apt-get install ros-${ROS_DISTRO}-ros-base python-catkin-tools python-rosdep
(Skip if mc_rtc is already installed.) Install mc_rtc. See here for details.
$ curl -1sLf 'https://dl.cloudsmith.io/public/mc-rtc/stable/setup.deb.sh' | sudo -E bash

$ sudo apt-get install libmc-rtc-dev mc-rtc-utils mc-state-observation jvrc-choreonoid libcnoid-dev ros-${ROS_DISTRO}-mc-rtc-plugin ros-${ROS_DISTRO}-mc-rtc-rviz-panel libeigen-qld-dev

Controller installation

Setup catkin workspace.
$ mkdir -p ~/ros/ws_lmc/src

$ cd ~/ros/ws_lmc

$ wstool init src

$ wstool set -t src isri-aist/LocomanipController https://github.com/isri-aist/LocomanipController --git -y

$ wstool update -t src isri-aist/LocomanipController

$ wstool merge -t src src/isri-aist/LocomanipController/depends.rosinstall

$ wstool update -t src
Install dependent packages.
$ source /opt/ros/${ROS_DISTRO}/setup.bash

$ rosdep install -y -r --from-paths src --ignore-src
Build a package.
$ catkin build locomanip_controller -DCMAKE_BUILD_TYPE=RelWithDebInfo -DENABLE_QLD=ON --catkin-make-args all tests
Setup controller
$ mkdir -p ~/.config/mc_rtc/controllers

$ cp ~/ros/ws_lmc/src/isri-aist/LocomanipController/etc/mc_rtc.yaml ~/.config/mc_rtc/mc_rtc.yaml
Setup motion configuration file (optional)
$ roscd locomanip_controller

$ cp .github/workflows/config/PushCartWaypoint.yaml ~/.config/mc_rtc/controllers/LocomanipController.yaml

Simulation execution

# Terminal 1
$ source ~/ros/ws_lmc/devel/setup.bash
$ roscore
# Terminal 2
$ source ~/ros/ws_lmc/devel/setup.bash
$ roscd locomanip_controller/cnoid/project/
$ /usr/share/hrpsys/samples/JVRC1/clear-omninames.sh
$ choreonoid LMC_JVRC1_Cart.cnoid --start-simulation
# Terminal 3
$ source ~/ros/ws_lmc/devel/setup.bash
$ roslaunch locomanip_controller display.launch