drexel_darwin_single_door_outward_sim
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— | drexel_darwin_single_door_outward_sim [2016/11/07 17:18] (current) – created dwallace | ||
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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:// | ||
+ | |||
+ | At the end of this tutorial you will be able to execute a trajectory similar to the following video: | ||
+ | |||
+ | {{youtube> | ||
+ | |||
+ | ===== 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 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 · Last modified: 2016/11/07 17:18 by dwallace