User Tools

Site Tools


drexel_darwin_gazebo_walkthrough

Differences

This shows you the differences between two versions of the page.

Link to this comparison view

drexel_darwin_gazebo_walkthrough [2016/11/06 20:48] (current)
dwallace created
Line 1: Line 1:
 +====== 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://​sites.google.com/​site/​drcsimulatorforhubo/​home|here]].
 +
 +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://​github.com/​Bharadwaj-Ramesh/​Darwin_OP.git
 +
 +===== Step 2 =====
 +
 +Copy the contents to the gazebo Models directory
 +
 +  cp -r Darwin_OP ~/​.gazebo/​models/​
 +
 +===== Step 3 =====
 +
 +Go into the directory where everything is copied into
 +
 +  cd ~/​.gazebo/​models/​Darwin_OP/​Darwin-OP\ tracking\ Ball
 +
 +===== 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`:​$GAZEBO_PLUGIN_PATH
 +
 +===== 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'​s frame. But it walks closest(.1m) to the ball and stops.
drexel_darwin_gazebo_walkthrough.txt ยท Last modified: 2016/11/06 20:48 by dwallace