[nextage_tutorials] Add current setup of jsk Nextage Open. #627

Michi-Tsubaki · 2025-10-30T01:52:45Z

Currently, systems for robots in JSK related to hrpsys is managed and maintained in this repository (not in jsk_robot)

This PR adds current Nextage Open Setup in JSK to nextage_tutorials, as following the "hironxjsk". I use the "jsk-nextage" namespace to distinguish between the origina nextage system and jsk nextage system.

Summary

Create .gitignore to unstage the .dae and .l files which is generated when catkin build.
JSKNextageOpen.urdf The original URDF is in nextage_description. In this PR adds links and joints for cameras to publish TF.
jsk_robot_state_publisher.launch which publish and overwrite the TF information.
To overwrite the TF, this node uses the name hrpsys_state_publisher same as the one of publisher in the robot's PC. As a result, the original node is killed and the new one overwrites it.
jsk-nextage-teleope.l : For data collection, I write the program for teleoperation.
nextage-utils.l is for collision-check. Nextage Open is so strong that I cannot stop the arms by my hands when collision occures, so collision-check before sending command is mandatory.
To use the teleoperation systen, dual_touch.launch is needed.
d405_lhand.launch and l515_head.launch are the launch files to start Realsense. The important part is the serial_no to distinguish between l515 and d405. Because I designate the serial no in this file, we do not have to prepare udev to distinguish among them as for realsense.
right_ft_sensor.launch is to start force sensor currently only for the right hand. 99-rftsensor.rules is related.
elp_camera.launch is to start the camera to zoom in. 99-elp-camera.rules is related.
create_udev_rules.sh is to copy and load the udev files.

nextage_tutorials/euslisp/jsk-nextage-init.l

nextage_tutorials/euslisp/jsk-nextage-teleope.l

pazeshun · 2025-10-30T02:57:54Z

nextage_tutorials/euslisp/nextage-utils.l

@@ -0,0 +1,18 @@
+(defun nextage-collision-check ()


In most cases, <robot>-utils.l defines functions by overwriting/adding methods to the existing robot class:
https://github.com/jsk-ros-pkg/jsk_robot/blob/b193dc5a09d8e73aa1fb1100297516404238d4aa/jsk_fetch_robot/fetcheus/fetch-utils.l
https://github.com/jsk-ros-pkg/jsk_robot/blob/b193dc5a09d8e73aa1fb1100297516404238d4aa/jsk_panda_robot/panda_eus/euslisp/panda-utils.l

Why don't you use this method?

Why don't you overwrite :collision-check-pairs like jsk-ros-pkg/jsk_robot#1026?

WIP.
This is temporary and the easiest way to just test . This is why I said this PR is Draft. When I overwrite the robot interface, Then I change this PR from Draft to Open.

I fixed nextage-utils.l by overwriting :self-collision-check in NextageOpen-robot.
I also edited nextage-interface.l to call :start-grasp and :stop-grasp from ri.

pazeshun · 2025-10-30T03:06:27Z

nextage_tutorials/package.xml

  <exec_depend>euscollada</exec_depend>
  <exec_depend>nextage_description</exec_depend>
-  <exec_depend>nextage_gazebo</exec_depend>
+  <!--<exec_depend>nextage_gazebo</exec_depend>-->


Why do you comment out this?
I think rosdep install displays an error but we can skip it.
Is there any critical error?
(Perhaps I just forgot.)

Yeah, we can skip when running rosdep insall, but when we run catkin build, some dependencies problem cannnot be resolved. You said that currently this problem cannot be solved, so I was told to comment out this to pass catkin build.

[build] Found 146 packages in 0.0 seconds. [build] Updating package table. Starting >>> nextage_description Starting >>> openrtm_tools Starting >>> rtmbuild Finished <<< nextage_description [ 0.1 seconds ] Finished <<< rtmbuild [ 0.1 seconds ] _______________________________________________________________________________ Errors << openrtm_tools:cmake /home/leus/catkin_ws/logs/openrtm_tools/build.cmake.007.log CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required): Compatibility with CMake < 2.8.12 will be removed from a future version of CMake. Update the VERSION argument <min> value or use a ...<max> suffix to tell CMake that the project does not need compatibility with older versions. CMake Warning (dev) at CMakeLists.txt:2 (project): Policy CMP0048 is not set: project() command manages VERSION variables. Run "cmake --help-policy CMP0048" for policy details. Use the cmake_policy command to set the policy and suppress this warning. The following variable(s) would be set to empty: CMAKE_PROJECT_VERSION CMAKE_PROJECT_VERSION_MAJOR CMAKE_PROJECT_VERSION_MINOR CMAKE_PROJECT_VERSION_PATCH This warning is for project developers. Use -Wno-dev to suppress it. CMake Error at /usr/share/cmake-3.22/Modules/FindPkgConfig.cmake:603 (message): A required package was not found Call Stack (most recent call first): /usr/share/cmake-3.22/Modules/FindPkgConfig.cmake:825 (_pkg_check_modules_internal) CMakeLists.txt:54 (pkg_check_modules) cd /home/leus/catkin_ws/build/openrtm_tools; catkin build --get-env openrtm_tools | catkin env -si /usr/bin/cmake /home/leus/catkin_ws/src/rtmros/rtmros_common/openrtm_tools --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/leus/catkin_ws/devel/.private/openrtm_tools -DCMAKE_INSTALL_PREFIX=/home/leus/catkin_ws/install; cd - ............................................................................... Failed << openrtm_tools:cmake [ Exited with code 1 ] Failed <<< openrtm_tools [ 0.7 seconds ] Abandoned <<< hrpsys_tools [ Unrelated job failed ] Abandoned <<< nextage_tutorials [ Unrelated job failed ] Abandoned <<< hrpsys_ros_bridge [ Unrelated job failed ] Abandoned <<< hironx_ros_bridge [ Unrelated job failed ] Abandoned <<< hironx_moveit_config [ Unrelated job failed ] Abandoned <<< nextage_ros_bridge [ Unrelated job failed ] Abandoned <<< nextage_moveit_config [ Unrelated job failed ] Abandoned <<< nextage_gazebo [ Unrelated job failed ]

I attach the full log. Missing package is openrtm-aist.

leus@leus-ThinkPad-T14s-Gen-5:~/catkin_ws/logs/openrtm_tools$ cat build.cmake.log Not searching for unused variables given on the command line. CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required): Compatibility with CMake < 2.8.12 will be removed from a future version of CMake. Update the VERSION argument <min> value or use a ...<max> suffix to tell CMake that the project does not need compatibility with older versions. CMake Warning (dev) at CMakeLists.txt:2 (project): Policy CMP0048 is not set: project() command manages VERSION variables. Run "cmake --help-policy CMP0048" for policy details. Use the cmake_policy command to set the policy and suppress this warning. The following variable(s) would be set to empty: CMAKE_PROJECT_VERSION CMAKE_PROJECT_VERSION_MAJOR CMAKE_PROJECT_VERSION_MINOR CMAKE_PROJECT_VERSION_PATCH This warning is for project developers. Use -Wno-dev to suppress it. -- Using CATKIN_DEVEL_PREFIX: /home/leus/catkin_ws/devel/.private/openrtm_tools -- Using CMAKE_PREFIX_PATH: /home/leus/catkin_ws/devel;/opt/ros/one -- This workspace overlays: /home/leus/catkin_ws/devel;/opt/ros/one -- Using PYTHON_EXECUTABLE: /usr/bin/python3 -- Using Debian Python package layout -- Using empy: /usr/bin/empy -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/leus/catkin_ws/build/openrtm_tools/test_results -- Forcing gtest/gmock from source, though one was otherwise available. -- Found gtest sources under '/usr/src/googletest': gtests will be built -- Found gmock sources under '/usr/src/googletest': gmock will be built -- Using Python nosetests: /usr/bin/nosetests3 -- catkin 0.8.12 -- BUILD_SHARED_LIBS is on -- Checking for module 'openrtm-aist' -- No package 'openrtm-aist' found CMake Error at /usr/share/cmake-3.22/Modules/FindPkgConfig.cmake:603 (message): A required package was not found Call Stack (most recent call first): /usr/share/cmake-3.22/Modules/FindPkgConfig.cmake:825 (_pkg_check_modules_internal) CMakeLists.txt:54 (pkg_check_modules) -- Configuring incomplete, errors occurred! See also "/home/leus/catkin_ws/build/openrtm_tools/CMakeFiles/CMakeOutput.log".

nextage_tutorials/CMakeLists.txt

nextage_tutorials/euslisp/jsk-nextage-teleop.l

…a0bResetPose length

…oetic

…ween XYZ and color

On Ubuntu Focal, "/usr/bin/env python" cannot be executed unless python-is-python2/3 is installed

…real robot and use each limb controller when using gazebo simulator

pazeshun · 2025-11-17T13:56:15Z

nextage_tutorials/euslisp/nextage-interface.l

+    (when on-gazebo-ros-control
+      (ros::ros-warn "Found Gazebo/ros_control environment"))
+    )
+  (when on-gazebo-ros-control  


(Do not read the following until you finish your bachelor thesis)

This when does not work as you expect:

1.irteusgl$ (setq var t) t 2.irteusgl$ (defclass test :super object :slots ()) test 3.irteusgl$ (defmethod test (:init ()) (when var (:test ()))) test 4.irteusgl$ (setq test-ins (instance test :init)) #<test #X560f20ad91a8> 5.irteusgl$ (send test-ins :methods) (:init when :prin1 :warning :error :slots :methods :super :get-val :set-val)

Therefore, hironxjsk-interface defines and uses special :gazebo-ros-controller:

rtmros_tutorials/hrpsys_ros_bridge_tutorials/euslisp/hironxjsk-interface.l

Line 32 in 221301d

(on-gazebo-ros-control :gazebo-ros-controller)

rtmros_tutorials/hrpsys_ros_bridge_tutorials/euslisp/hironxjsk-interface.l

Lines 62 to 67 in 221301d

(:gazebo-ros-controller ()

(append

(send self :rarm-controller)

(send self :larm-controller)

(send self :head-controller)

(send self :torso-controller)))

Or you can use macro, one of the biggest advantages of Lisp (but readability may be decreased):
https://github.com/start-jsk/rtmros_common/blob/57331a5179d0d10947ff6f58eae744aa8c0be22a/hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l#L303-L322

Michi-Tsubaki requested a review from pazeshun October 30, 2025 01:57

Michi-Tsubaki marked this pull request as draft October 30, 2025 02:10

pazeshun reviewed Oct 30, 2025

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nextage_tutorials/euslisp/jsk-nextage-teleop.l Show resolved Hide resolved

Michi-Tsubaki force-pushed the add-camera-and-ft-sensor branch 2 times, most recently from f6af72f to 1eb4b97 Compare November 10, 2025 14:32

YuyaNagamatsu and others added 15 commits November 11, 2025 14:47

[hrpsys_ros_bridge_tutorials/A0B] add A0B interface

e3133ef

change name :tqleg0 to :a0b

9693ff4

change a0bResetPose list based on a0b.yaml, set a0bInitPose based on …

3edcc9e

…a0bResetPose length

[hrpsys_ros_bridge_tutorials] fix for building models with xacro in N…

47ce371

…oetic

[hrpsys_ros_bridge_tutorials] apply 2to3 -f print

19606b3

[hrpsys_ros_bridge_tutorials] apply 2to3 -f map

ed414b2

[hrpsys_ros_bridge_tutorials] apply 2to3 -f dict

9895ef0

[hrpsys_ros_bridge_tutorials] apply 2to3 -f has_key

c3999c0

change depth_registration value from false to true to fix the gap bet…

e1460cd

…ween XYZ and color

add description of image transport plugin param for hw_registered

8a07105

[hrpsys_ros_bridge_tutorials] Enable to compile on pure Ubuntu Focal

0d724ae

On Ubuntu Focal, "/usr/bin/env python" cannot be executed unless python-is-python2/3 is installed

Set up head_camera, larm_camera, ft_sensor and teleop

ab83adb

Create teleope program

e45a48c

Create udev rules and se up launch files

89d4a9e

Set up nextage-interface.l and nextage-utils.l

41b5881

Michi-Tsubaki force-pushed the add-camera-and-ft-sensor branch from c40012c to 41b5881 Compare November 11, 2025 05:50

Michi-Tsubaki added 7 commits November 11, 2025 14:52

Remove lhand-init, rhand-init

77360bc

Publish d405 TF

2753a0c

Fix d405 link

9387927

Remove calib file

4b10aea

Refix d405 link

9026d2c

Use full-body-controller in descripted in robot-interface when using …

1759551

…real robot and use each limb controller when using gazebo simulator

Purge override ik

2398ce5

pazeshun reviewed Nov 17, 2025

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[nextage_tutorials] Add current setup of jsk Nextage Open. #627

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	(:gazebo-ros-controller ()
	(append
	(send self :rarm-controller)
	(send self :larm-controller)
	(send self :head-controller)
	(send self :torso-controller)))

[nextage_tutorials] Add current setup of jsk Nextage Open. #627

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Michi-Tsubaki commented Oct 30, 2025 •

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