Main collector of ergoCub specific SW
For installing it just:
mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=<install-prefix> ..
make
(make install)
ergocub
for Gazebo Classic simulation model needs a gazebo-yarp-plugins >= 4.9.0 .
In order to use the model, the following env variables must be configured:
# ergoCub model in YARP
export YARP_DATA_DIRS=${YARP_DATA_DIRS}:<install-prefix>/share/ergoCub
# ergoCub model in Gazebo
export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:<install-prefix>/share/ergoCub/robots
export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:<install-prefix>/share/
Currently whole-body-dynamics does not run along with ergoCubGazeboV1
. To start it please run the following command in a console once yarpserver
and
the robot has been placed in gazebo
yarprobotinterface --config conf/launch_wholebodydynamics_ecub.xml
This repository hosts the configuration files for generating ergoCub urdf via creo2urdf
.
You can find there the relative documentation on how write those configuration files.
This repository is maintained by:
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@Nicogene |