dljsjr
commented
6 years ago As of b7373b341ef77dbb3b00a604009cf45381371e30 we can now communicate with the Gazebo sim in both directions using the bridge provided in robotology-playground/ihmc-ors-yarp
Example main is found here: https://github.com/ihmcrobotics/iCub/blob/b7373b341ef77dbb3b00a604009cf45381371e30/src/it/iit/iCub/hardwareDrivers/yarp/IcubUDPRobotFeedbackExample.java
The example receives and sends datagrams on the same thread, and opens up an SCS instance with no dynamics to visualize the robot feedback we're receiving from the Gazebo simulation.
@traversaro @fiorisi if you want to play with this on the real robot you can but it doesn't do much yet. It only does position control for now, and you can servo the joints by setting the "&desired" variables in the SCS instance that spawns. IP addresses are configured in the classes IcubUDPRobotFeedbackReceiver and IcubUDPRobotDesiredsSender.
Next steps:
- [ ] Clean up the sensor reader implementation
- [ ] Put the Desireds sender inside of an output writer
- [ ] Decide on some stand-prep set points
- [ ] Put the sensor reader and output writer inside our controller factory
- [ ] Attempt gravity compensation in Gazebo
- [ ] Attempt flat ground walking track in Gazebo
As a first step to being able to use the iCub codebase on the real robot hardware we need to integrate with the YARP (http://www.yarp.it) interfaces that the robot exposes.
We can prototype this integration by using https://github.com/robotology/icub-gazebo with https://github.com/robotology-playground/ihmc-ors-yarp to communicate with YARP via a DDS interface.
The final goal of this would be to have flat ground walking working in Gazebo. Progress on this goal will be tracked here.