issue after running the “roslaunch mc_rtc_ticker display.launch”

[dosh1234]

Hello！

I follow the introductions on the website step by step（“https://jrl-umi3218.github.io/lipm_walking_controller”）
I know
First edit mc_rtc configuration to make use of the newly installed controller, edit ~/.config/mc_rtc/mc_rtc.yaml:
MainRobot: JVRC1
Enabled: LIPMWalking
But I found that I couldn't find mc_trc in path ~/.config/mc_rtc/mc_rtc.yaml. I can find it in ~/devel/src/mc_rtc/etc.

Then I run: roslaunch mc_rtc_ticker display.launch
Rviz is on, but the robot model is not visible, through RVIZ, I can see "no TF data. Actual error: fixed frame [robot_ map] does not exist”.

Thank you!

[gergondet]

But I found that I couldn't find mc_trc in path ~/.config/mc_rtc/mc_rtc.yaml. I can find it in ~/devel/src/mc_rtc/etc.

You should create the directory (and the file) on the first use. The file in ~/devel/src/mc_rtc/etc is not read by mc_rtc (it is the default configuration that is installed)

Rviz is on, but the robot model is not visible, through RVIZ, I can see "no TF data. Actual error: fixed frame [robot_ map] does not exist”.

This is normal. Nothing will appear in RViZ until you run a controller.

[dosh1234]

Hello, gergondet！Thank you very much for your help!

I have created the mc_rtc.yaml in ~/.config/mc_rtc/, Then cd /usr/share/hrpsys/samples/JVRC1, in this path, I run ./clear-omninames.sh

[ ok ] Stopping omniorb4-nameserver (via systemctl): omniorb4-nameserver.service.
[ ok ] Starting omniorb4-nameserver (via systemctl): omniorb4-nameserver.service.

Mon Jan 4 09:57:37 2021:

Starting omniNames for the first time.
Wrote initial log file.
Read log file successfully.
Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000e00000031302e32372e3136302e32323800f90a0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c0000000100000001000100010000000100010509010100010000000901010003545441080000001176f25f010022c5
Checkpointing Phase 1: Prepare.
Checkpointing Phase 2: Commit.
Checkpointing completed.

Still in /usr/share/hrpsys/samples/JVRC1, I run choreonoid --start-simulation sim_mc.cnoid.

Command line option error! : unrecognised option '--start-simulation'

Options:
--project arg load a project file
--start-playback start playback automatically
--model arg load a 3d model file
-h [ --help ] show help message

I can open "choreonoid". But can't see the robot.

[gergondet]

Hi @dosh1234

Can you run choreonoid sim_mc.cnoid and see the robot? Then you can push the start simulation button in the interface (it's a green play button)

How did you install choreonoid?

[dosh1234]

Hi @gergondet

I Install dependencies from Ubuntu mirror. After choreonoid sim_mc.cnoid,