3D Gazebo models for TEO robot. If you are looking for the source code of the robot itself, visit the teo-main repository.

Installation

Installation instructions for installing from source can be found here.

Usage

We recomment to add this line at the end of your ~/.bashrc (Linux) so that Gazebo can discover and load the models with no further input from terminal (using standard installation path):

export GAZEBO_MODEL_PATH=/usr/local/share/gazebo/models:$GAZEBO_MODEL_PATH

Launch the robot standing on its own feet:

gazebo path/to/worlds/teo.world

Launch the robot floating slightly above ground with fixed root links:

gazebo path/to/worlds/teo_fixed.world

Docker

The following Docker images are available in the ghcr.io container registry:

• docker pull ghcr.io/roboticslab-uc3m/teo-gazebo-models:latest: Gazebo 11 + YARP + plugins
• docker pull ghcr.io/roboticslab-uc3m/teo-gazebo-models:ros2: Gazebo 11 + YARP + ROS Humble + plugins

TEO Gazebo models are already preinstalled.

Usage

The image is configured to use the gazebo executable as entry point and use the /usr/local/share/gazebo/worlds path as the working directory.

First, make sure you launched the YARP server (yarp server --write) and gave access to the X server (sudo xhost +). Then, issue the following command anywhere on the preinstalled model you wish to use, e.g. teo_fixed.world:

docker run --rm --privileged \
           -v /tmp/.X11-unix:/tmp/.X11-unix:ro \
           -v $HOME/.config/yarp:/root/.config/yarp:ro \
           -e DISPLAY \
           ghcr.io/roboticslab-uc3m/teo-gazebo-models:latest teo_fixed.world

Alternatively, appending -v $XAUTHORITY:/root/.Xauthority:ro to the list of options would avoid the need of sudo xhost +. In .bashrc, add the following line:

export XAUTHORITY=$(xauth info | grep "Authority file" | awk '{ print $3 }')

Developing

You might want to clone this repo and load the models you are currently working on instead of the preinstalled ones. A volume mounting point can be added on the current working directory (make sure it is the root directory of this repo, not models/ nor worlds/):

docker run --rm --privileged \
           -v /tmp/.X11-unix:/tmp/.X11-unix:ro \
           -v $HOME/.config/yarp:/root/.config/yarp:ro \
           -v $PWD:/gazebo:ro \
           -e DISPLAY \
           ghcr.io/roboticslab-uc3m/teo-gazebo-models:latest teo_fixed.world

.bashrc

For ease of use, the following Bash aliases can be added to .bashrc:

XAUTHORITY=$(xauth info | grep "Authority file" | awk '{ print $3 }')
alias gazebo='docker run --rm --privileged -v /tmp/.X11-unix:/tmp/.X11-unix:ro -v $XAUTHORITY:/root/.Xauthority:ro -v $HOME/.config/yarp:/root/.config/yarp:ro -e DISPLAY ghcr.io/roboticslab-uc3m/teo-gazebo-models:latest'
alias gazebo-ros='docker run --rm --privileged -v /tmp/.X11-unix:/tmp/.X11-unix:ro -v $XAUTHORITY:/root/.Xauthority:ro -v $HOME/.config/yarp:/root/.config/yarp:ro -e DISPLAY ghcr.io/roboticslab-uc3m/teo-gazebo-models:ros2'
alias gazebo-dev='docker run --rm --privileged -v /tmp/.X11-unix:/tmp/.X11-unix:ro -v $XAUTHORITY:/root/.Xauthority:ro -v $HOME/.config/yarp:/root/.config/yarp:ro -v $PWD:/gazebo:ro -e DISPLAY ghcr.io/roboticslab-uc3m/teo-gazebo-models:latest'
alias gazebo-ros-dev='docker run --rm --privileged -v /tmp/.X11-unix:/tmp/.X11-unix:ro -v $XAUTHORITY:/root/.Xauthority:ro -v $HOME/.config/yarp:/root/.config/yarp:ro -v $PWD:/gazebo:ro -e DISPLAY ghcr.io/roboticslab-uc3m/teo-gazebo-models:ros2'

Building

The following build args are available:

• YARP_TAG: YARP tag/branch/commit to compile against (default: master)
• CORES: number of cores passed to the compiler (default: 1)

Note that YARP_TAG=yarp-3.9 was reported to cause issues (#10).

Example:

cd /path/to/teo-gazebo-models/docker
docker build -t ghcr.io/roboticslab-uc3m/teo-gazebo-models:latest --build-arg CORES=18 --build-arg YARP_TAG=master --file Dockerfile .

It is advised to use the GitHub Action docker.yml via manual dispatch (click on "Run workflow").

Contributing

Posting Issues

1. Read CONTRIBUTING.md
2. Post an issue / Feature request / Specific documentation request

Fork & Pull Request

1. Fork the repository
2. Create your feature branch (git checkout -b my-new-feature) off the master branch, following the Forking Git workflow
3. Commit your changes
4. Push to the branch (git push origin my-new-feature)
5. Create a new Pull Request

Status

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