This repository contains a collection of popular robot models with associated urdf models and meshes. The joint control is achieved through gazeboyarpplugins motor control boards. The models can be launched in gazebo and controlled through yarp infrastructure as the robotic middleware.
git clone https://github.com/Yeshasvitvs/retargeting-robot-models
cd retargeting-robot-models
mkdir build
cmake ../
make all
make install
NOTE: The default installation location is /usr/local/
.
This can be changed by updating CMAKE_INSTALL_PREFIX
flag.
The following environment variables are needed to discover the repository files
by yarp, gazebo and ros. Update your .bashrc
with the following lines.
export YARP_DATA_DIRS=${YARP_DATA_DIRS}:/<path-to-retargeting-robot-models-installation>/share/retargeting-robot-models
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/<path-to-retargeting-robot-models-installation>/share
export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:/<path-to-retargeting-robot-models-installation>/share/retargeting-robot-models/robots:/<path-to-retargeting-robot-models-installation>/share
The directory retargeting-shell-scripts
contains bash scripts to run retargeting demo
with multiple robot models easily.
retargeting-yarprobotinterface.sh
script launchesyarprobotinterface
with configuration files for retargeting for multiple robotsretargeting-yarprobotstatepublisher.sh
script launchesyarprobotstatepublisher
for multiple robot models
The multiple robot models include the following models:
- Human
- iCub
- Nao
- Walkman
- Atlas
- Baxter
The directory ros
contains roslaunch
file and rviz
configuration file.
To launch Rviz Visualization with multiple robot model run the following command on a terminal after running retargeting with multiple robot models
roslaunch retargeting-robot-models retargetingRobotModelsRviz.launch
NOTE: Sometimes even when the environment variables related to ros i.e. ROS_PACKAGE_PATH
are correctly configures to
discover the urdf models, Rviz fails to display the visual elements of the models even when all the links transforms are available in /tf
topic. To overcome this problem add the following line to .bashrc
as pointed out here
export LC_NUMERIC="en_US.UTF-8"