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drexel_darwin_gazebo_walkthrough [2016/11/06 20:48] (current) – created dwallace
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 +====== Walkthrough Tutorial for Simulating Darwin-OP Walk on Gazebo ======
  
 +This tutorial is to implement the Darwin-OP Color Ball following on Gazebo. This tutorial assumes that you have Gazebo - version 1.7.1 installed and also Github Installed and have basic knowledge of Gazebo. To understand Gazebo you can follow the tutorials I have authored [[https://sites.google.com/site/drcsimulatorforhubo/home|here]].
 +
 +To understand how this tutorial works and what it is doing follow this tutorial : [[drexel_darwin_ball_tracking_gazebo|Simulation on Gazebo]]
 +
 +===== 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\ tracking\ Ball
 +
 +===== 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 darwinBallFollow build
 +  cd build
 +
 +===== Step 6 =====
 +
 +Open the world file that we just copied using Gazebo in pause state. 
 +
 +  gazebo -u darwinBallFollow
 +
 +Run the world and you will see that the Darwin-OP walks to the ball.
 +
 +The current version has friction issues and hence the Darwin is not programmed to turn towards the ball if it is not at the center of the Darwin-OP's frame. But it walks closest(.1m) to the ball and stops.
drexel_darwin_gazebo_walkthrough.txt · Last modified: 2016/11/06 20:48 by dwallace