• install just choreonoid

$ sudo add-apt-repository ppa:hrg/daily
$ sudo apt-get update
$ sudo apt-get install choreonoid libcnoid-dev

• download source files

wstool set --git rtm-ros-robotics/rtmros_choreonoid https://github.com/start-jsk/rtmros_choreonoid.git
wstool update rtm-ros-robotics/rtmros_choreonoid

• catkin build hrpsys_choreonoid_tutorials

• rtmlaunch hrpsys_choreonoid_tutorials jaxon_red_choreonoid.launch

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• for JVRC (Old information)

• install choreonoid see http://jvrc.github.io/tutorials/html-ja/install.html#installation-of-choreonoid

• catkin build hrpsys_ros_bridge_jvrc and hrpsys_choreonoid

• roslaunch hrpsys_ros_bridge_jvrc jaxon_jvrc_choreonoid.launch TASK:=O1