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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

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 ..

Step 4

Add the plugins to Gazebo plugin path.


Step 5

Move the world file to the build directory.

cd ..
cp build
cd build

Step 6

Open the world file that we just copied using Gazebo in pause state.

gazebo -u

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