iCub Gazebo Simulator

Docker environment to run iCub in simulation.

First, please follow the instructions at this link to install Docker on your computer.

Create the docker image

$ git clone https://github.com/event-driven-robotics/event-driven-demos.git
git checkout tutorials
cd gazebo-docker/ 
docker build -t gazebo:latest

Create a docker container named gz

docker images 
docker run -it --name gz --hostname gz --gpus all --network=host -v /tmp/.X11-unix/:/tmp/.X11-unix -e DISPLAY=unix$DISPLAY "${@:3}" "${@}" gazebo:latest

Run yarpserver

docker exec -it gz bash
yarpserver 

Open a new terminal and run yarpmanager, which will open the relative GUI

docker exec -it gz bash
yarpmanager 

Under Application, open "Tutorial on iCub Gazebo" and run all modules. This should open the Gazebo simulator and all modules should become green colour. The robot is ready to be controlled in the joint and cartesian space.

Run the cartesian controller example code:

cd /usr/local/src/event-driven-demos/tutorial_cartesian/build/
./tutorial_cartesian

Run the joint controllers' examples codes:

cd /usr/local/src/event-driven-demos/tutorial_joint/build/
./tutorial_joint