This repository provides a ROS package for simulation of the InMoov robot platform.
This repository aim to provide a fully working simulator supporting the InMoov robotic humanoid platform.
The simulator is shipped in a ROS 2 - ready to use - package
✔️ Complete URDF model of the InMoov robot
✔️ Accurate joint configurations and limits
✔️ ROS-compatible (Robot Operating System)
✔️ Fully fonctional RViz simulation with a simple ROS 2 package
Create a workspace (here inmoov_ws) with an src folder and clone the repository in it
git clone git@github.com:Sentience-Robotics/inmoov_ros_sim.git inmoov_ws/src/inmoov_ros_simGo to inmoov_ws/src/inmoov_ros_sim/
cd inmoov_ws/src/inmoov_ros_sim/To install dependencies, you can either use the provided docker image (A) or install ROS 2 Humble locally (B):
A - Local Installation (Only if you're on Ubuntu 22.04)
For a local installation, you have to install the following dependencies:
- ROS 2 Humble
- rviz2 : visualisator
- Gazebo Fortress (launch script not available yet) : simulator
- Colcon, CMake : build system
First ensure that the Ubuntu Universe repository is enabled
sudo apt install software-properties-common
sudo add-apt-repository universeNow add the ROS 2 GPG key with apt.
curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpgThen add the repository to your sources list
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/nullUpdate your apt repository caches after setting up the repositories.
apt update -q
apt upgrade -q -yFinally, install ros 2
apt install -y ros-humble-desktop ros-humble-ros-gz ros-dev-tools ros-humble-joint-state-publisher ros-humble-joint-state-publisher-guiSource ros
On bash
source /opt/ros/humble/setup.bashOn zsh
source /opt/ros/humble/setup.zshB -Docker Installation
Authorize the docker to access the X server
xhost +Start the docker container
make upConnect to the container
make termYou will also need to have a running X server to display the simulation
On windows, you can use VcXsrv
On linux, you can either use X11 or XWayland
Build the package
colcon build
Source your workspace
On bash
source ./install/local_setup.bashOn zsh
source ./install/local_setup.zshros2 launch inmoov_ros_sim main.launch.pyWe value the participation of each member of our community and are committed to ensuring that every interaction is respectful and productive. To foster a positive environment, we ask you to read and adhere to our Code of Conduct.
By participating in this project, you agree to uphold this code in all your interactions, both online and offline. Let's work together to maintain a welcoming and inclusive community for everyone.
If you encounter any issues or have questions regarding the Code of Conduct, please contact us at contact@sentience-robotics.fr.
Thank you for being a part of our community!
To find out more on how you can contribute to the project, please check our CONTRIBUTING.md
- Original project code/files: GNU GPL V3 License
- InMoov-derived files: CC BY-NC 4.0 (as specified below)
See the LICENSE file for details.
Parts of this project that are derived from InMoov files (including Blender models, CAD files, and STL files) are based on the original work by Gael Langevin.
Original Work: InMoov by Gael Langevin
License: Creative Commons Attribution-NonCommercial (CC BY-NC)
Source: http://inmoov.fr/
Applies to: Blender files, CAD files, STL files, and other 3D models derived from InMoov
- 🎉 InMoov Project – Original design by Gael Langevin
- 🎉 All contributors to the InMoov community
- 📧 Email: contact@sentience-robotics.fr
- 🌍 GitHub Organization: Sentience Robotics