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The two available humanoid models that come to my mind are the Nao and Romeo description. These currently offer no gazebo support. Simulating a full body humanoid is a challenging simulation task (at least when not cheating by artificially nailing the standing foot to the floor or using other hacks). As far as I´m aware, there is no solution for gazebo available at the moment, so you either have the option to try it out yourself or wait a little, as Gazebo will likely be significantly improved in this direction in the future for the DARPA robotics challenge.

Another related option would be to have a look at the OpenHRP3 simulator, which works very well for humanoid robot simulation (but has no ROS interface).

The two available humanoid models that come to my mind are the Nao and Romeo description. These currently offer no gazebo support. Simulating a full body humanoid is a challenging simulation task (at least when not cheating by artificially nailing the standing foot to the floor or using other hacks). As far as I´m aware, there is no solution for gazebo available at the moment, so you either have the option to try it out yourself or wait a little, as Gazebo will likely be significantly improved in this direction in the future for the DARPA robotics challenge.

Another related option would be to have a look at the OpenHRP3 simulator, which works very well for humanoid robot simulation (but has no ROS interface).interface). /edit: As described in the comment below, there is a ROS interface available.