OpenMR: Modular Robots plug-in for Openrave

Simulating the locomotion of the Minicube-I modular robot

Introduction

OpenMR is an OpenRave Modular Robots plug-in for simulating the locomotion of modular robots.

Installation and setup

• Install OpenRave: Instructions
• Checkout the OpenMR sources:

svn co http://svn.iearobotics.com/openmr/trunk  openmr

• Change to the openmr/plugin folder:

cd openmr/plugin

• Execute cmake:

cmake .

If you get the following error message:

"CMake Error at CMakeLists.txt:7 (message):
 could not find openrave, check for openrave-config in path

-- Configuring incomplete, errors occurred!"

make sure you have the openrave and openrave-config files in the PATH. For example, in my system i should configure the path like this:

export PATH=$PATH:/home/juan/desarrollo/openrave/localinstall/bin

• Compile the plugin:

make

• Install the plugin:

make install

Now, the libopenmr.so will be installed in the openrave plugins directory. The plugin is ready for use

Repository

svn co http://svn.iearobotics.com/openmr/trunk  openmr

License

This code is under the GPLv3 license

Author

Juan Gonzalez-Gomez

Links

• Openrave
• Y1 modules
• Modular Robotics and Locomotion: Application to Limbless robots. PhD Thesis

News

• 2010/03/08: This page is started