| lib/ALRobotModel | a C++ lib which describes all the Aldebaran-Robotics models (geometry, kinematics, dynamics, sensors and actuators). |
| lib/ALNAOsim | a C++ lib which enables to link the sensors / actuators to NAOqi (via the Hardware Abstraction Layer). |
| lib/ALSimUtils | a C++ lib which launches automatically one naoqi per robot. |
For further information, see: Simulator-SDK reference
| share/alrobotmodel/meshes | OGRE 3D format meshes. |
| share/alrobotmodel/meshes-src | Blender format meshes. |
| examples/dummysim | a small example which shows how to use those lib. |
| examples/robot_description | a tool which generates the description of all the Aldebaran-Robotics model in text or URDF format. |
| Step | Action |
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From the root of simulator-sdk, move to examples/dummysim/ cd examples/dummysim/
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Create a build directory, and move into it mkdir build && cd build
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Configure the build with cmake cmake -DCMAKE_TOOLCHAIN_FILE=../../../toolchain-pc.cmake ..
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Compile make
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Execution of dummysim. Do not forget to uncomment the dcm_hal in the file etc/naoqi/autoload.ini in the naoqi-sdk. Next, at the root of simulator-sdk: on Linux: bin/dummysim share/alrobotmodel/models/ROMEO.xml <naoqi_port> <naoqi_sdk>
on Mac: DYLD_LIBRARY_PATH=lib bin/dummysim share/alrobotmodel/models/ROMEO.xml <naoqi_port> <naoqi_sdk>
on Windows: launch bin/dummysim share/alrobotmodel/models/ROMEO.xml <naoqi_port> <naoqi_sdk>
Where: <naoqi_port> is the port on which NAOqi will be launched and <naoqi_sdk> is the sdk from which NAOqi will be launched. |
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Check that everything works fine:
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You can instantiate several robots on the same computer by defining a port for each.
Everything is in the Standard International.
In its current implementation, the video does not work without NAOqi running.
Use robot_description to generate urdf:
| Step | Action |
|---|---|
| Install ros and rviz (see http://www.ros.org/wiki/) | |
| Compile and use robot_description to generate the urdf file of the model you need. | |
Launch: ./robot_description --model-file .../simulator-sdk/models/...xml --urdf --mesh-path .../simulator-sdk/meshes/ > aldebaran_model.xml
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Visualize it with rviz (for more information, see http://www.ros.org/wiki/rviz): rosrun urdf check_urdf aldebaran_model.xml
roslaunch urdf_tutorial display.launch model:=aldebaran_model.xml
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