In this tutorial the Darwin walk through a door that opens inwards
If you executed the previous tutorials you can jump to step 3. You can follow the previous tutorials here
Clone from the Git repository :
git clone https://github.com/Bharadwaj-Ramesh/Darwin_OP.git
Copy the contents to the gazebo Models directory
cp -r Darwin_OP ~/.gazebo/models/
Go into the directory where everything is copied into
cd ~/.gazebo/models/Darwin_OP/Darwin-OP\Door_In
Create a build directory and compile the plugins in the build directory.
mkdir build cd build cmake .. make
Add the plugins to Gazebo plugin path.
export GAZEBO_PLUGIN_PATH=`pwd`:$GAZEBO_PLUGIN_PATH
Move the world file to the build directory.
cd .. cp darwin_door.world build cd build
Open the world file that we just copied using Gazebo in pause state.
gazebo -u darwin_door.world
Run the simulation and you will see that the Darwin-OP open the door and walk its way through.