Only released in EOL distros:   electric fuerte groovy

Package Summary

This stack contains the packages necessary to run TUlip in the gazebo simulator. Currently the stack only contains the simulation environment. Walking algorithms are not released yet, this may happen in the future.

Overview

This stack contains the following packages:

• tulip_description contains the geometric, inertial and visual properties of TUlip in urdf files.

• tulip_gazebo contains the simulation controller programs and launch files for the simulation.

Documentation

Information about TUlip can be found at its ROS robot page.

Specific documentation about the simulator can be found in the paper 'Qualitative validation of humanoid robot models through balance recovery side-stepping experiments' by Tim Assman, Pieter van Zutven and Henk Nijmeijer, which is accepted for publication at the IEEE International Conference on Robotics and Automation (ICRA 2013), May 6-10, 2013, Karlsruhe, Germany.

Please refer to this simulator using the following citation:

@inproceedings{tbd,
  title={Qualitative validation of humanoid robot models through balance recovery side-stepping experiments},
  author={Assman, T. and van Zutven, P.W.M. and Nijmeijer, H.},
  booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
  year={2013},
}

All scientific documentation about the research on TUlip can be found at our wiki.

For the documentation of the packages in this stack, see the wiki pages of those packages.

Installation

The source code of this stack can be found in the public SVN repository of the Eindhoven University of Technology. This stack is compatible with ROS Electric and ROS Fuerte; depending on your ROS version checkout the code as follows:

svn co https://roboticssrv.wtb.tue.nl/svn/ros/release/groovy/tulip_simulator/

svn co https://roboticssrv.wtb.tue.nl/svn/ros/release/fuerte/tulip_simulator/

svn co https://roboticssrv.wtb.tue.nl/svn/ros/release/groovy/tulip_simulator/

To use the simulator, compile the code:

roscd tulip_simulator; cmake .
roscd tulip_description; cmake .
roscd tulip_gazebo; cmake .

rosmake tulip_simulator

and run the simulation in Gazebo:

roslaunch tulip_gazebo start.launch

or visualize the robot in rviz:

roslaunch tulip_gazebo rviz.launch

This stack depends on the following packages:

ros-electric-simulator-gazebo
ros-electric-pr2-mechanism
ros-electric-pr2-controllers
ros-electric-pr2-simulator
ros-electric-visualization
ros-electric-robot-model-visualization

ros-fuerte-simulator-gazebo
ros-fuerte-pr2-mechanism
ros-fuerte-pr2-controllers
ros-fuerte-pr2-simulator
ros-fuerte-visualization
ros-fuerte-robot-model-visualization

ros-groovy-simulator-gazebo
ros-groovy-pr2-mechanism
ros-groovy-pr2-controllers
ros-groovy-pr2-simulator
ros-groovy-visualization
ros-groovy-robot-model-visualization

Make sure that these are installed and that the path to this stack is in your ROS package path.

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