====== 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.