Embedded Motion Control 2013/Simulator: Difference between revisions
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# Navigate to the ''jazz_gazebo'' ROS package: <pre>roscd jazz_gazebo</pre> | # Navigate to the ''jazz_gazebo'' ROS package: <pre>roscd jazz_gazebo</pre> | ||
# And build and compile it and its dependencies: <pre>rosmake</pre> | # And build and compile it and its dependencies: <pre>rosmake</pre> | ||
Furthermore, Gazebo needs to know where to find the robot description (located in ''jazz_description'') which includes its meshes, textures, kinematic chain, etc, and where to find the plugins for the controllers and sensors. This information can be set in the environment variables ''GAZEBO_PLUGIN_PATH'' and ''GAZEBO_MODEL_PATH'': | |||
# Open a terminal ''(ctrl-alt-t)'' | |||
# Open ''.bashrc'':<pre>gedit ~/.bashrc</pre> | |||
# Add the following lines:<pre>export GAZEBO_PLUGIN_PATH=~/ros/general/jazz_gazebo/lib:~/ros/general/tue_gazebo_plugins/lib:$GAZEBO_PLUGIN_PATH</pre><pre>export GAZEBO_MODEL_PATH=~/ros/general/jazz_description:$GAZEBO_MODEL_PATH</pre> | |||
== Usage == | == Usage == | ||
Revision as of 16:01, 30 August 2013
Installation
If you followed all steps specified on the installation page , you will already have downloaded the simulator Gazebo and our specific Jazz simulator. To be able to use the Jazz simulator, you first have to compile the downloaded ROS packages:
- Open a terminal (ctrl-alt-t)
- Navigate to the jazz_gazebo ROS package:
roscd jazz_gazebo
- And build and compile it and its dependencies:
rosmake
Furthermore, Gazebo needs to know where to find the robot description (located in jazz_description) which includes its meshes, textures, kinematic chain, etc, and where to find the plugins for the controllers and sensors. This information can be set in the environment variables GAZEBO_PLUGIN_PATH and GAZEBO_MODEL_PATH:
- Open a terminal (ctrl-alt-t)
- Open .bashrc:
gedit ~/.bashrc
- Add the following lines:
export GAZEBO_PLUGIN_PATH=~/ros/general/jazz_gazebo/lib:~/ros/general/tue_gazebo_plugins/lib:$GAZEBO_PLUGIN_PATH
export GAZEBO_MODEL_PATH=~/ros/general/jazz_description:$GAZEBO_MODEL_PATH