Table of Contents
Opening Single Door Outward and Walking Through
This tutorial is to implement a simulation of the Darwin-OP open a door and walk through it on Gazebo. This tutorial assumes that you have Gazebo - version 1.7 installed.You need to have basic knowledge of Gazebo. To understand Gazebo you can follow the tutorials I have authored here.
At the end of this tutorial you will be able to execute a trajectory similar to the following video:
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/Door_Out
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 darwin_OP_door_2.world build cd build
Step 6
Open the world file that we just copied using Gazebo in pause state. Note : This world file is created only for version 1.7. It may or may not work for other versions.
gazebo -u darwin_OP_door_2.world
Run the simulation and you will see that the Darwin-OP open the door and walk its way through.