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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. To generate the URDF, you need to have access to the cad-mechanics repo (that is currently private, if you need access ask it to the ergocub-software mantainer) and install the following repos and software:

• You need to install the version of Creo required by cad-mechanics.
• You need to install the repos that contain the CAD models, i.e. cad-libraries (see https://github.com/icub-tech-iit/cad-libraries/wiki/Configure-PTC-Creo-with-cad-libraries) and cad-mechanics https://github.com/icub-tech-iit/cad-mechanics/.
• You need to install creo2urdf following the README in https://github.com/icub-tech-iit/creo2urdf, either from source or using the binary available for each release.

[!NOTE] For generating ergoCub URDF creo2urdf v0.4.8 or greater is needed

The CAD files used to generate the URDF models have been prepare according to the procedure described in https://github.com/icub-tech-iit/cad-libraries/wiki/Prepare-PTC-Creo-Mechanism-for-URDF .

You can find there the relative documentation on how write those configuration files, and more details in the README of the following folders:

• urdf/creo2urdf/data/ergocub1_0
• urdf/creo2urdf/data/ergocub1_1

Maintainers

This repository is maintained by: