JSK EusLisp repository

This repository contains software developed and used by JSK at The University of Tokyo.

1. Getting started

1.1 Install from binary

Since Debian 11(Bullseye) / Ubuntu 22.04(jammy), euslisp/jskeus is distributed under official repository. See https://packages.debian.org/source/euslisp and https://launchpad.net/ubuntu/+source/euslisp

sudo apt update
sudo apt install euslisp euslisp-dev jskeus jskeus-dev

1.2 Install for ROS1(~ Ubuntu 20.04) users

1.2.1 Setup ROS repository

Please set ROS_DISTRO environment variable to your ROS distro. For example, if you use 18.04, run export ROS_DISTRO=melodic.

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
sudo apt-get update

1.2.2 Install Euslisp

sudo apt-get install ros-$ROS_DISTRO-euslisp

1.3 Install via Homebrew (OSX)

brew install euslisp/jskeus/jskeus

2 Playing with Demo programs

2.1 Motion generation

$ irteusgl irteus/demo/demo.l

and type any command, such as ‘(crank-motion)’ or ‘(dual-arm-ik)’

2.2 Robots and objects models

$ irteusgl models/irt-all-robots.l "(make-all-robots)"

$ irteusgl models/irt-all-objects.l "(make-all-objects)"

3 Getting started for ROS and PR2 users

3.1 Install binaries (RECOMMENDED: Ubuntu 14.04)

3.1.1 Setup ROS repository

You can skip this procedure if you have already setup your ROS system

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
sudo apt-get update

3.1.2 Install pr2/euslisp programs

sudo apt-get install ros-$ROS_DISTRO-pr2eus

3.3 Running demo programs

3.3.1 Visualization of pr2 robot

$ rosrun euscollada pr2.sh

3.3.2 For real PR2 users

After you set ROS_MASTER_URI and ROS_IP to your PR2 robot (or simulated PR2), try the following command:

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