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:
Clone from the Git repository :
git clone https://github.com/Bharadwaj-Ramesh/Darwin_OP.git
Copy the contents to the gazebo Models directory
cp -r Darwin_OP ~/.gazebo/models/
Go into the directory where everything is copied into
Create a build directory and compile the plugins in the build directory.
mkdir build cd build cmake .. make
Add the plugins to Gazebo plugin path.
Move the world file to the build directory.
cd .. cp darwin_OP_door_2.world build cd build
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.