Main collector of ergoCub specific SW
Before installing ergocub-software
, please be sure that you've installed YARP
3.9.0 or higher on your machine.
For installing it just:
mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=<install-prefix> ..
make
(make install)
ergocub
for Gazebo Classic simulation model needs a gazebo-yarp-plugins
latest master.
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/
In order to make the device couplingXCubHandMk5
detectable, add <installation_path>/share/yarp
to the YARP_DATA_DIRS
environment variable of the system.
Alternatively, if YARP
has been installed using the robotology-superbuild, it is possible to use <directory-where-you-downloaded-robotology-superbuild>/build/install
as the <installation_path>
.
This repository is packaged as ergocub-software
in the robotology
conda channel, see https://anaconda.org/robotology/ergocub-software .
To create an environment with it, just add it during the environment creation as any other conda package, for example:
conda create -n ergocubenv -c conda-forge -c robotology ergocub-software
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
This repository hosts the configuration files for generating ergoCub urdf via creo2urdf
.
You can find there the relative documentation on how write those configuration files.
This repository is maintained by:
![]() |
@Nicogene |