ergocub-software

Main collector of ergoCub specific SW

Installation

For installing it just:

mkdir build
cd build
cmake ..
make
(make install)

ergocub model needs Gazebo YARP Plugins v4.6.0 or higher in order to be used.

URDF generation

This repo hosts the ergoCub urdf, enabling the cmake flag ERGOCUB_MODEL_GENERATE_SIMMECHANICS it is possible to generate it from simmechanics xml. Enabling also ERGOCUB_MODEL_COPY_TO_SRC the generated models are copied in the urdf directory for being committed.

Dependencies

• Ruby
• iDynTree
• YARP
• simmechanics-to-urdf

Usage

mkdir build
cd build
cmake -DERGOCUB_MODEL_GENERATE_SIMMECHANICS=BOOL:ON -DERGOCUB_MODEL_COPY_TO_SRC=BOOL:ON ..
make
(make install)

Automatic generation

This GitHub Action generates automatically the urdf everytime a commit in usdf/simmechanics on master branch is done and opens a PR containing the changes in the models.