/cassie-gazebo-sim

Gazebo simulator for the Agility Robotics Cassie robot

Primary LanguageC

agility-cassie-gazebo-simulator

A simulation library for Agility Robotics' Cassie robot using Gazebo. Developed and tested on Ubuntu 16.04 with Gazebo 9.

Instructions:

Building the code:

  • Download and install Gazebo 9 - http://gazebosim.org/tutorials?tut=install_ubuntu
  • Clone this repository
  • Make a build directory
  • cd build
  • cmake ../plugin
  • make
  • source /usr/share/gazebo/setup.sh
  • export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:<WORKSPACE>/cassie-gazebo-sim/
  • export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:<WORKSPACE>/cassie-gazebo-sim/build
  • export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:<WORKSPACE>/cassie-gazebo-sim/build
  • From the cassie-gazebo-sim/cassie directory, run gazebo cassie.world to test if the installation is successful.

Note: The Gazebo plugin and model path needs to be updated to load the meshes and plugins - http://gazebosim.org/tutorials?tut=components

Running the sim:

  • cd ~/path-to-repo/cassie
  • gazebo cassie.world

The robot should be spawned in Gazebo

Connecting to the sim with a demo UDP based controller:

  • cd ~/path-to-repo/your-build-folder
  • ./cassiectrl

The controller should be connected to the simulator.

The examples include cassiectrl, a null controller operating over UDP.