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Halodi Robot Models

This repository contains the open source robot models from Halodi.

Available models

  • Eve R3

Supported platforms

Build systems and support is provided for the following software packages

  • ROS2
  • Unity 2019+ (halodi-robot-models-unity-support)
  • IHMC Simulation Construction Set (Java)

License

The Halodi Robot Models are licensed under the Apache License, Version 2.0.

Usage

Regenerating URDFs

cd eve_r3_description
mkdir build && cd build
cmake ..

ROS2

Create a ROS2 workspace and place this repository in the src folder. Use colcon build to generate the models and install them into your workspace.

colcon build is also used to regenerate the .urdf and .sdf models based on the partial models. Always run colcon build before recompiling Unity and Simulation Construction Set support.

Unity 2019+

A Unity project with prefabs is available in the halodi-robot-models-unity-support folder.

For installation instructions, see halodi-robot-models-unity-support/Packages/halodi-robot-models/.

Regenerate Unity models

After regenerting the models using colcon build in your ROS2 workspace, you need to reimport the models into the Unity project. Load the Unity project, and from the menu bar run [Halodi] -> [Reimport Halodi Robot Models].

After importing, prefabs for the robot models can be found in Runtime/halodi/models/.

The Unity project includes the halodi-unity-package-creator plugin to publish to a NPM server.

IHMC Simulation Construction Set (Java)

The Halodi Robot Models are compatible with IHMC Simulation Construction set.

Adding as dependency

To add this as a dependency to your Java project, add the following to your build.gradle

repositories {
    mavenCentral()
    maven { url "https://artifacts.halodi.com/repository/maven-open-source-group" }
    mavenLocal()
}

dependencies {
    compile group: "com.halodi", name: "halodi-robot-models", version: "2.3.4"
}

Publishing to maven repository

To compile and publishing to your local maven repository, run

gradle publishToMavenLocal

To upload snapshot to artifacts.halodi.com:

ARTIFACT_USERNAME=[username] ARTIFACT_PASSWORD=[password] ARTIFACT_VERSION=[version] gradle publish

To upload release to artifacts.halodi.com:

ARTIFACT_USERNAME=[username] ARTIFACT_PASSWORD=[password] ARTIFACT_VERSION=[version] gradle publish -PenvironmentName=release

Folder structure

Each robot is placed in a folder named [robot]_description. The structure of each folder contains

package.xml
Readme.md
License.md
CMakeLists.txt
model.config
meshes/
sdf/
urdf/
urdf.in/
cmake/

The files package.xml, CMakeLists.txt, urdf.in/, cmake/ and model.config are not included when generating Java and Unity packages.