Categories
3D Research robots simulation

Gazebo Cassie Sim

Checked out https://github.com/agilityrobotics/cassie-gazebo-sim

There were some extra steps, as per usual. Ubuntu 18.04? https://automaticaddison.com/how-to-launch-gazebo-in-ubuntu/ – We need to change the URL to url: https://api.ignitionrobotics.org

cd ~/.ignition/fuel/config.yaml

and I needed to set some envs

GAZEBO_PLUGIN_PATH=/opt/cassie-gazebo-sim/plugin/build
GAZEBO_MODEL_PATH=/.gazebo/models

/.gazebo/models/cassie# gazebo cassie.world

It loads a derpy cassie robot

Then /opt/cassie-gazebo-sim/plugin/build# ./cassiectrl

runs the sim, which doesn’t do anything.

But the https://github.com/agilityrobotics/cassie-gazebo-sim/tree/master/plugin/include code is interesting, for remote controlling code in C using UDP. UDP is a good idea for remote control. Sends structs. Very straightforward. Nice. ZMQ probably nicer though.

Looks like it integrates with a fancy https://www.elmomc.com/ motion control company thing. Nice big UI. But yeah. Cassie robot is much too complicated.