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Integraing ROS with Gazebo

Author: Santiago Ricoy

Date last modified: 8/21/2016

Keywords: ROS, Jade, Indigo, PODOGUI, Gazebo, DRC_Hubo, models

This is a guide to using ROS to work with a model of DRC-Hubo in Gazebo.

The purpose of this is to essentially allow us to modify commands before actually giving them to a robot to ensure reliability. This will also make it possible to reference a movement and have the physical robot follow it.

The following tutorial will require a solid workstation graphics card, and a fairly fast computer.

I'm currently using (or trying to anyway) an Intel NUC (Intel i5, Intel® Haswell Mobile graphics).

Requirements:

Please be sure to have gone through the installation for:

  • Ubuntu 14.04
  • Xenomai
  • Qt
  • ROS (Indigo or Jade; Jade being the latest)
  • Gazebo 5

There are tutorials for this created by Keitaro on DASLHub. If those are not completed, the simulations will not function. Commonly, one main issue is the computer not booting into the OS installation running Xenomai.

Note: Be warned that even with all of this in place, you may (will?) run into alternate issues that vary by computer. One thing may be as much of an offshoot as ROS and Gazebo version issues, dependency problems, and the beloved

adv-hubo.1471764832.txt.gz · Last modified: 2016/08/21 00:33 by santiagoricoy