ergocub-gaze-control

Controller for ergoCub gaze

Prerequisites

This repository utilizes:

• Eigen,
• Robotology Superbuild,
• iCub Models, and
• Gazebo for simulation.

Follow the links to install each of these.

Installation on ergoCub robot

0. ssh to robot torso: ssh -X ergocub-torso

1. Install the rpc interfaces by doing the following commands (dependencies):

   cd $ROBOT_CODE/hsp && git clone https://github.com/hsp-iit/ergocub-rpc-interfaces
   cd ergocub-rpc-interfaces/ecub_gaze_controller/cpp_library && mkdir build && cd build
   cmake -DCMAKE_INSTALL_PREFIX=/usr/local/src/robot/robotology-superbuild/build/install ..
   make install -j4

2. Clone the repository to hsp directory:

cd $ROBOT_CODE/hsp && git clone https://github.com/hsp-iit/ergocub-gaze-control.git

3. Navigate to the directory:

cd ergocub-gaze-control/

3. Create a new build directory and navigate to it:

mkdir build && cd build

4. Then build the repository:

cmake -DCMAKE_INSTALL_PREFIX=/usr/local/src/robot/robotology-superbuild/build/install .. && make install -j4

How to run on ergoCub

On the robot torso do:

ergocub-gaze-controller /usr/local/src/robot/hsp/ergocub-gaze-control/config/ecub_config.ini

Running a demo in Gazebo

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

yarpserver --write

2. 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.

3. 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.

4. 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