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rodi_gazebo

[RoDI] (http://rodibot.com/) (Robot Didáctico Inalámbrico) Gazebo model.

A Gazebo model and plugin for the RoDI educational robot that allows to control a simulated version of the robot by using its default firmware web services API.

rodi_gazebo_image

Dependencies

The RoDI plugin depends on the libmicrohttpd library, so it has to be installed to build and use the plugin.

Build

The following steps build the Gazebo RoDI plugin:

$ git clone git://github.com/rodibot/rodi_gazebo.git

$ cd rodi_gazebo

$ pushd plugins/rodi

$ mkdir build && cd build

$ cmake ../ && make

$ source /usr/share/gazebo/setup.sh

$ export GAZEBO_PLUGIN_PATH=$(pwd):${GAZEBO_PLUGIN_PATH}

$ popd

$ export GAZEBO_MODEL_PATH=$(pwd)/models:${GAZEBO_MODEL_PATH}

Usage

To start a simultion with a RoDI model and its plugin:

$ gazebo worlds/model_rodi.world

The TCP port can be changed using the <port/> tag in models/rodi/model.sdf.

Author

Javier Martinez Canillas ( javier@dowhile0.org )