ergocub-software

Main collector of ergoCub specific SW

Installation

For installing it just:

mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=<install-prefix> ..
make
(make install)

ergocub model needs Gazebo YARP Plugins v4.6.0 or higher in order to be used.

In order to use the model, the following env variables must be configured:

# ergoCub model in YARP
export YARP_DATA_DIRS=${YARP_DATA_DIRS}:<install-prefix>/share/ergoCub
# ergoCub model in Gazebo
export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:<install-prefix>/share/ergoCub/robots
export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:<install-prefix>/share/

Run Whole-body-dynamics

Currently whole-body-dynamics does not run along with ergoCubGazeboV1. To start it please run the following command in a console once yarpserver and the robot has been placed in gazebo

yarprobotinterface --config conf/launch_wholebodydynamics_ecub.xml

URDF generation

This repo hosts the ergoCub urdf, enabling the cmake flag ERGOCUB_MODEL_GENERATE_SIMMECHANICS it is possible to generate it from simmechanics xml. Enabling also ERGOCUB_MODEL_COPY_TO_SRC the generated models are copied in the urdf directory for being committed.

Dependencies

Usage

mkdir build
cd build
cmake -DERGOCUB_MODEL_GENERATE_SIMMECHANICS=BOOL:ON -DERGOCUB_MODEL_COPY_TO_SRC=BOOL:ON ..
make
(make install)

Automatic generation

This GitHub Action generates automatically the urdf everytime a commit in urdf/simmechanics on master branch is done and opens a PR containing the changes in the models.

Maintainers

This repository is maintained by:


	@Nicogene

xEnVrE/ergocub-software