test_ignition

Simple repo to test the C++ example found here.

To run the code:

1. Follow the ScenarIO installation instructions found here.

2. Navigate to the build folder and run:

cmake ..
make

3. Set the following environment variables:

export IGN_GAZEBO_RESOURCE_PATH=$IGN_GAZEBO_RESOURCE_PATH:/(absolute path to this repo)/anymal
export IGN_GAZEBO_SYSTEM_PLUGIN_PATH=$IGN_GAZEBO_SYSTEM_PLUGIN_PATH:/(absolute path to scenario libraries)

4. From the build folder, run the executable with:

./ExampleWithScenario

The Ignition Gazebo gui should appear and you should see the robot fall in the air for 30 s.