zyfang / sim_cas

mirror of repository on bitbucket

Interactive Kitchen Games in Gazebo

Mirror of https://bitbucket.org/zyfang/sim_cas

Prerequisites

Install Gazebo 5.3.0:

• http://gazebosim.org/tutorials?tut=install_ubuntu&cat=install

Install libconfig library for reading config files

• libconfig

Razer Hydra device for interaction

Build

mkdir build
cd build
cmake ..
make

Set up plugin path

echo "export GAZEBO_PLUGIN_PATH=/<path>/kitchen_games/build:${GAZEBO_PLUGIN_PATH}" >> ~/.bashrc
source ~/.bashrc

Run example

gazebo worlds/kitchen.world -u --verbose

Razer Hydra device (right) buttons :

• middle button -> starts/stops hand tracking
• bumper button -> creates pancake
• button 2 -> starts/stops logging the data