drexel_darwin_single_door_inward_sim
Table of Contents
Opening Single Door Inward and Walking Through
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
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_In
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_door.world build cd build
Step 6
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.
drexel_darwin_single_door_inward_sim.txt · Last modified: 2016/11/07 17:27 by dwallace