Adding new robot

[angelobratta]

I added the urdf of a new robot (aliengo_with_z1) and consequently updated the plugin in gazebo_sim.
However, since I am not creating the libaliengo_with_z1.so (with RobCogen ?), I need to launch the dls with -raliengo and then do:
loadModel aliengo_with_z1 .

How can we fix this?

[dwbertol]

Hi @angelobratta,

To add new robots to the DLS2 framework, the recommended approach is to create a branch of an existing robot library (e.g., libaliengo) or to fork the repository for a new robot.

Developing custom code for specific robots, such as this new one, directly within the main DLS2 repository could lead to complications for other users and result in the accumulation of legacy code over time. This is precisely the type of situation we aimed to avoid when transitioning from DLS1, and we appreciate your understanding and cooperation in adhering to this policy.

For instance, issue #226 could have been avoided if the creation of this robot had followed the policy outlined above.

[angelobratta]

ciao @dwbertol .
I created my own branch for gazebo_sim and aliengo_description and dls2 (to add new messages for the arm).
I did not touch aliengo_lib .
I let you and @MMarcus95 talk about the structure; it is something for adults.

[dwbertol]

That’s a good point, and I completely understand. The dls2 repository shouldn’t have space for changes or branches that are specific to individual robots. I’ll discuss this with @MMarcus95, and we’ll explore the possibility of creating a new, more generic library for robots that avoids this issue altogether.

Many of these challenges stem from the use of hardcoded libraries from Robocogen. Now that we’re using Pinocchio, we have an opportunity to develop something more intuitive and user-friendly. It would be great to make this easier for everyone, especially for the kids. :)

[MMarcus95]

closing, as robotlib now supports dynamic size data structure, and the gluecode is relying on Pinocchio