ROS package providing mesh files and URDF of the Darwin OP robot for use with the real robot or Gazebo. URDF contains joint transmissions for controllers and Gazebo referenced plugins for camera and the IMU provided by hector_gazebo.
This is a fork of the repository provided by Génération Robots and HumaRobotics under the Simplified BSD license because that repository is unmaintained.
Main differences are:
- The center of mass and inertial tensor for all links were recalculated and fixed;
- lower and upper limits for joints were updated;
- arms have 3DOF instead of 5.
A new control package that take into account these differences was written from scratch: https://github.com/eriol/darwin_control
In order to build this package we suggest using wstool:
After installing it you can create a new workspace (in the example called catkin_ws),
and make it download all the not packaged dependencies:
mkdir catkin_ws
cd catkin_ws
wstool init src
wstool merge -t src https://raw.githubusercontent.com/eriol/darwin_description/main/darwin_description.rosinstall
wstool update -t src
You may need to install the hector_gazebo ROS package.