agility-cassie-gazebo-simulator

A simulation library for Agility Robotics' Cassie robot using Gazebo. Developed and tested on Ubuntu 18.04 with Gazebo 9.9

This has been modified from the original Agility Robotics library to be used alongside dairlib.

Instructions:

Building the code:

• Download and build dairlib (https://github.com/DAIRLab/dairlib). NOTE: this is needed for the LCM types only.
• Download and install Gazebo 9 - http://gazebosim.org/tutorials?tut=install_ubuntu
• Clone this repository into the same root directory as dairlib.
• Make a build directory
• cd build
• cmake ../plugin
• make
• source /usr/share/gazebo/setup.sh
• export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:<WORKSPACE>/cassie-gazebo-sim/
• export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:<WORKSPACE>/cassie-gazebo-sim/build
• export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:<WORKSPACE>/cassie-gazebo-sim/build
• From the cassie-gazebo-sim/cassie directory, run gazebo cassie.world to test if the installation is successful.

Note: The Gazebo plugin and model path needs to be updated to load the meshes and plugins - http://gazebosim.org/tutorials?tut=components

Running the sim:

• cd ~/path-to-repo/cassie
• gazebo cassie.world

The robot should be spawned in Gazebo

Connecting to the sim with a demo UDP based controller:

• cd ~/path-to-repo/your-build-folder
• ./cassiectrl

The controller should be connected to the simulator.

The examples include cassiectrl, a null controller operating over UDP.