ergocub-software

Main collector of ergoCub specific SW

Installation

Dependencies

Before installing ergocub-software, please be sure that you've installed YARP 3.9.0 or higher on your machine.

Compiling from source

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>.

Use conda binary packages

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

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 repository hosts the configuration files for generating ergoCub urdf via creo2urdf. You can find there the relative documentation on how write those configuration files.

Maintainers

This repository is maintained by:

	@Nicogene