AlterEgo_Gazebo_Simulator

To clone with SSH use:

git clone --recursive [email protected]:NMMI/AlterEgo_Gazebo_Simulator.git

To clone with HTTPS use:

shell
git clone --recursive https://github.com/NMMI/AlterEgo_Gazebo_Simulator.git

Build and test

Add the submodules

cd AlterEgo_Gazebo_Simulator
git submodule init
git submodule update

Install and Build the RBDL

if not previously installed then:

cd ~/catkin_ws/src/AlterEgo_Gazebo_Simulator/utils/rbdl
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=Release -D RBDL_BUILD_ADDON_URDFREADER=ON -D RBDL_USE_ROS_URDF_LIBRARY=OFF ../
make
sudo make install

Needed packages

sudo apt-get install ros-melodic-serial
sudo apt-get install ros-melodic-controller
sudo apt-get install ros-melodic-rplidar-ros

Move to source dir cd ~/catkin_ws/. Then

catkin_make

To test:

roslaunch ego_description ego_gazebo.launch 

Params that you can add for testing

True/false in the followings

adv_plugin:="value"
compliant_plugin:="value"
use_rviz:="value"
use_sim_time:="value"
pause:="value"
inv_kin:="value"