icub_description

This package consists of a urdf model of iCub humanoid robot and a yarp-ros bridge to publish joint states of the robot to ros.

Requirements

1. ROS : http://wiki.ros.org/
2. Yarp : http://www.yarp.it/
3. iCub : http://wiki.icub.org/

Install

1. cd ~/catkin_ws/src
2. git clone https://github.com/tkelestemur/icub_description.git
3. cd ..
4. catkin_make
5. cd /src/icub_description/yarp_ros_bridge
6. mkdir build && cd build
7. cmake ../
8. make

Run

1. roscore
2. yarp server --ros
3. iCub_SIM or gazebo and add iCub (fixed) to gazebo world.
4. cd /src/icub_description/yarp_ros_bridge/build
5. run ./icub_state_publisher --robot *name*
   (Note: for iCub_SIM name: icubSim, for Gazebo name: icubGazeboSim)
6. roslaunch icub_description icub.launch