agility-cassie-gazebo-simulator

A simulation library for Agility Robotics' Cassie robot using Gazebo. Developed and tested on Ubuntu 16.04 with Gazebo 9.

Instructions:

Building the code:

• Download and install Gazebo 9 - http://gazebosim.org/tutorials?tut=install_ubuntu
• Clone this repository
• Make a build directory
• cd build
• cmake ..
• make

Note: The Gazebo plugin and model path needs to be updated to load the meshes and plugins - http://gazebosim.org/tutorials?tut=components

Running the sim:

• cd ~/path-to-repo/cassie
• gazebo cassie.world

The robot should be spawned in Gazebo

Connecting to the sim with a demo UDP based controller:

• cd ~/path-to-repo/your-build-folder
• ./cassiectrl

The controller should be connected to the simulator.

The examples include cassiectrl, a null controller operating over UDP.