This repository contains the packages necessary for simulating DyRET. It contains several packages that come together to model, interface and simulate. A description of each package is given below, for further information look at launch files and dyret_common.

For information about DyRET or how to use the simulation packages see our wiki.

To build packages simply clone this repository into your workspace and run catkin_make or catkin build. Note that running catkin_make -j1 can prevent some difficulties in building packages that depend on each other.

Like all DyRET packages this requires dyret_common.

This package contains URDF which describes DyRET so that it can be visualized in ROS/Rviz. This package is used by the other to include a model of DyRET. For simplicity this package contains a handy launch file that can be used to place the URDF in ROS parameter robot_description.

This package contains further configuration to interface DyRET with Gazebo and give ROS control inside Gazebo. This package requires both ROS and Gazebo, as such it can not be used standalone with Gazebo. This package contains many useful launch files that can be used to start Gazebo and spawn DyRET inside. Most users should utilize empty_world.launch to start everything needed.

This package contains a Gazebo plugin that exposes an identical interface as the real-world robot. Ideally this plugin should make the simulated robot behave as the real.