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ergocub-gaze-control

Controller for ergoCub gaze

Prerequisites

This repository utilizes:

Follow the links to install each of these.

Installation

  1. Clone the repository to your workspace:
git clone https://github.com/ergoCub-HSP/ergocub-gaze-control.git
  1. Navigate to the directory:
cd ergocub-gaze-control/
  1. Create a new build directory and navigate to it:
mkdir build && cd build
  1. Then build the repository:
cmake ../ && make

Running a demo in Gazebo

  1. Open a new terminal in Ubuntu with ctrl + alt + t and start the YARP server:
yarpserver

If this fails to launch, try using:

yarpserver --write
  1. Open another terminal and run:
gazebo ~/your_workspace_directory/icub-bimanual/gazebo/words/ergocub-grasp-demo.sdf

A model of the ergoCub should launch in Gazebo.

  1. In a third terminal, navigate to ~/ergocub-gaze-control/build and run:
./bin/gaze_control ~/directory/to/ergoCub/urdf

If successful, then a yarp port /GazeController should be open for communication.

  1. In a fourth terminal, run:
yarp rpc /GazeController

You can now type commands for the robot to execute.

List of Commands

In the terminal where you can yarp rpc /GazeController, you can type the following:

  • look_at: point the camera to a 3D point in the robot frame

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