Controller for ergoCub gaze
This repository utilizes:
- Eigen,
- Robotology Superbuild,
- iCub Models, and
- Gazebo for simulation.
Follow the links to install each of these.
- Clone the repository to your workspace:
git clone https://github.com/ergoCub-HSP/ergocub-gaze-control.git
- Navigate to the directory:
cd ergocub-gaze-control/
- Create a new
build
directory and navigate to it:
mkdir build && cd build
- Then build the repository:
cmake ../ && make
- 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
- 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.
- 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.
- In a fourth terminal, run:
yarp rpc /GazeController
You can now type commands for the robot to execute.
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