single_pendulum

Run single pendulum tutorial in Gazebo

Run model in Gazebo with YARP integration

• 1st terminal:

  yarp server

• 2nd terminal:

  • Update the GZ_SIM_RESOURCE_PATH environment variable to point to the tutorial folder:

    export GZ_SIM_RESOURCE_PATH = $GZ_SIM_RESOURCE_PATH:<path-to-tutorial-folder>
    

  • Then, launch Gazebo:

    cd <path-to-tutorial-folder>/single_pendulum
    gz sim single_pendulum_world.sdf
    

  The Gazebo GUI will open and the single pendulum should be already spawned in the scene.

  

• 3rd terminal:

    cd tutorial/single_pendulum
    yarpmotorgui

  The yarpmotorgui interface will open and it should automatically prompt you to select the /singlePendulumGazebo/body part.

  Click Ok.

  

Finally start the simulation in Gazebo (click on the Play button on the bottom left). The pendulum will start to swing freely since the default control mode is Idle.

Click on Idle and select Torque. A slider will appear on which it is possible to manually set the reference torque [Nm].

Here's an example of the final result: tutorial_video