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drexel_darwin_single_door_outward_sim [2016/11/07 17:18] (current)
dwallace created
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 +====== 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 [[https://​sites.google.com/​site/​drcsimulatorforhubo/​home|here]].
 +
 +At the end of this tutorial you will be able to execute a trajectory similar to the following video: ​
 +
 +{{youtube>​qO4cfX5Xt7Q?​large}}\\ ​
 +
 +===== 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.
drexel_darwin_single_door_outward_sim.txt ยท Last modified: 2016/11/07 17:18 by dwallace