Halodi Robot Models
This repository contains the open source robot models from Halodi.
Available models
- Eve R3
Supported platforms
Build systems and support is provided for the following software packages
- ROS2
- Unity 2019+ (halodi-robot-models-unity-support)
- IHMC Simulation Construction Set (Java)
License
The Halodi Robot Models are licensed under the Apache License, Version 2.0.
Usage
Regenerating URDFs
cd eve_r3_description
mkdir build && cd build
cmake ..
ROS2
Create a ROS2 workspace and place this repository in the src
folder. Use colcon build
to generate the models and install them into your workspace.
colcon build
is also used to regenerate the .urdf
and .sdf
models based on the partial models. Always run colcon build
before recompiling Unity and Simulation Construction Set support.
Unity 2019+
A Unity project with prefabs is available in the halodi-robot-models-unity-support folder.
For installation instructions, see halodi-robot-models-unity-support/Packages/halodi-robot-models/.
Regenerate Unity models
After regenerting the models using colcon build
in your ROS2 workspace, you need to reimport the models into the Unity project. Load the Unity project, and from the menu bar run [Halodi] -> [Reimport Halodi Robot Models].
After importing, prefabs for the robot models can be found in Runtime/halodi/models/
.
The Unity project includes the halodi-unity-package-creator plugin to publish to a NPM server.
IHMC Simulation Construction Set (Java)
The Halodi Robot Models are compatible with IHMC Simulation Construction set.
Adding as dependency
To add this as a dependency to your Java project, add the following to your build.gradle
repositories {
mavenCentral()
maven { url "https://artifacts.halodi.com/repository/maven-open-source-group" }
mavenLocal()
}
dependencies {
compile group: "com.halodi", name: "halodi-robot-models", version: "2.3.4"
}
Publishing to maven repository
To compile and publishing to your local maven repository, run
gradle publishToMavenLocal
To upload snapshot to artifacts.halodi.com:
ARTIFACT_USERNAME=[username] ARTIFACT_PASSWORD=[password] ARTIFACT_VERSION=[version] gradle publish
To upload release to artifacts.halodi.com:
ARTIFACT_USERNAME=[username] ARTIFACT_PASSWORD=[password] ARTIFACT_VERSION=[version] gradle publish -PenvironmentName=release
Folder structure
Each robot is placed in a folder named [robot]_description
. The structure of each folder contains
package.xml
Readme.md
License.md
CMakeLists.txt
model.config
meshes/
sdf/
urdf/
urdf.in/
cmake/
The files package.xml
, CMakeLists.txt
, urdf.in/
, cmake/
and model.config
are not included when generating Java and Unity packages.