Setup Workspace
Install dependencies
sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
sudo apt install ros-noetic-ros-control
sudo apt install ros-noetic-ros-controllers
Clone simulation package
cd ~
mkdir -p barelangfc/src
cd barelangfc/src
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/DynamixelSDK.git
git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Framework.git
git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Framework-msgs.git
git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Math.git
git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Utility.git
git clone https://github.com/roboticsgroup/roboticsgroup_gazebo_plugins.git
git clone https://github.com/BarelangFC/BarelangFC-AdultSize-Simulation.git
git clone https://github.com/BarelangFC/BarelangFC_InverseKinematicsDifferentialEvolution_Simulation.git
cd ..
catkin_make
source devel/setup.bash
Create executable
cd ~
cd barelangfc/src/BarelangFC_InverseKinematicsDifferentialEvolution_Simulation/ik_arm_solver_de/InverseKinematics/
chmod +x forward_random_kanan.py
chmod +x forward_random_kiri.py
chmod +x IK_Arm_Kanan.py
chmod +x IK_Arm_Kiri.py
cd ~
cd barelangfc/src/BarelangFC_InverseKinematicsDifferentialEvolution_Simulation/ik_arm_solver_de/marker/
chmod +x random_marker_kanan.py
chmod +x random_marker_kiri.py
Terminal 1 Running Simulation note : after gazebo's open, click play on beside real time factor
roslaunch humanoid_gazebo humanoid_gazebo.launch
Terminal 2
cd ~
cd barelangfc
source devel/setup.bash
roslaunch humanoid_description humanoid_display.launch
Terminal 3
cd ~
cd barelangfc
source devel/setup.bash
roslaunch humanoid_manager humanoid_gazebo.launch
Terminal 4
cd ~
cd barelangfc
source devel/setup.bash
rosrun ik_arm_solver_de forward_random_kiri.py
Terminal 5
cd ~
cd barelangfc
source devel/setup.bash
rosrun ik_arm_solver_de random_maker_kiri.py
Terminal 6
cd ~
cd barelangfc
source devel/setup.bash
rosrun ik_arm_solver_de IK_Arm_kiri.py
- Python 3
- ros noetic
- numpy
Folder Simulation Package
Download this folder fo running simulation
https://drive.google.com/file/d/1sk5Oou0sWBBAGiBrHiLFfxB44LGY8bKr/view?usp=sharing