Table of Contents

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 here.

At the end of this tutorial you will be able to execute a trajectory similar to the following video:


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.