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How-to-run-controllers-with-gazebo-simulator.md

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HOW TO RUN SIMULINK CONTROLLERS IN SIMULATION WITH GAZEBO

The procedure to run the simulink controllers in simulation is still quite elaborate. Users willing to use the module should follow this list.

  • Set the environmental variable YARP_ROBOT_NAME in the .bashrc according to the robot one wants to use (e.g. iCubGazeboV2_5 or icubGazeboSim for simulations).

  • Verify that Gazebo and the robot model for simulations are available and installed. You can check if the controller is targeting the correct robot model by typing on a terminal:

    yarp resource --find model.urdf

    then, check that the path and the model name are correct.

  • Launch the yarpserver (with --write option if necessary).

  • Launch gazebo. It is in general required to use the synchronization between the controller and the simulator to avoid real-time factor related problems. Therefore launch gazebo as follows: gazebo -slibgazebo_yarp_clock.so.

  • Bring the robot in a suitable home position (e.g. use the command yarpmotorgui --from homePoseBalancing.ini and then select a custom position by clicking on Global Joints Commands/Custom postions).

  • For icubGazeboSim robot, launch wholeBodyDynamics as follows: YARP_ROBOT_NAME=icubGazeboSim yarprobotinterface --config launch-wholebodydynamics.xml. Same holds for iCubGazeboV2_5 (just change the robot name). For further details see here.

  • Type on a terminal yarp rpc /wholeBodyDynamics/rpc and execute the command resetOffset all 300. It will reset offsets of the fake FT measurements, that might be affected by the results of a previous simulation. Fake FT measurements are used e.g. for defining the threshold for switching from single to double support balancing.

  • Open the simulink model and run the controller.