drexel_darwin_gazebo_walkthrough
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— | drexel_darwin_gazebo_walkthrough [2016/11/06 20:48] (current) – created dwallace | ||
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+ | ====== Walkthrough Tutorial for Simulating Darwin-OP Walk on Gazebo ====== | ||
+ | This tutorial is to implement the Darwin-OP Color Ball following on Gazebo. This tutorial assumes that you have Gazebo - version 1.7.1 installed and also Github Installed and have basic knowledge of Gazebo. To understand Gazebo you can follow the tutorials I have authored [[https:// | ||
+ | |||
+ | To understand how this tutorial works and what it is doing follow this tutorial : [[drexel_darwin_ball_tracking_gazebo|Simulation on Gazebo]] | ||
+ | |||
+ | ===== Step 1 ===== | ||
+ | |||
+ | Clone from the Git repository : | ||
+ | |||
+ | git clone https:// | ||
+ | |||
+ | ===== Step 2 ===== | ||
+ | |||
+ | Copy the contents to the gazebo Models directory | ||
+ | |||
+ | cp -r Darwin_OP ~/ | ||
+ | |||
+ | ===== Step 3 ===== | ||
+ | |||
+ | Go into the directory where everything is copied into | ||
+ | |||
+ | cd ~/ | ||
+ | |||
+ | ===== Step 3 ===== | ||
+ | |||
+ | Create a build directory and compile the plugins in the build directory. | ||
+ | |||
+ | mkdir build | ||
+ | cd build | ||
+ | cmake .. | ||
+ | make | ||
+ | |||
+ | ===== Step 4 ===== | ||
+ | |||
+ | Add the plugins to Gazebo plugin path. | ||
+ | |||
+ | export GAZEBO_PLUGIN_PATH=`pwd`: | ||
+ | |||
+ | ===== Step 5 ===== | ||
+ | |||
+ | Move the world file to the build directory. | ||
+ | |||
+ | cd .. | ||
+ | cp darwinBallFollow build | ||
+ | cd build | ||
+ | |||
+ | ===== Step 6 ===== | ||
+ | |||
+ | Open the world file that we just copied using Gazebo in pause state. | ||
+ | |||
+ | gazebo -u darwinBallFollow | ||
+ | |||
+ | Run the world and you will see that the Darwin-OP walks to the ball. | ||
+ | |||
+ | The current version has friction issues and hence the Darwin is not programmed to turn towards the ball if it is not at the center of the Darwin-OP' |
drexel_darwin_gazebo_walkthrough.txt · Last modified: 2016/11/06 20:48 by dwallace