Commit 02985966 authored by Gabriele Buondonno's avatar Gabriele Buondonno

[doc] Installation and running

parent 1c416a7c
......@@ -4,7 +4,8 @@ Coordination project for the control of the balance of Talos.
## Installation procedure
Assuming you have all the dependencies correctly installed inside `/opt/openrobots`,
the package is installed as follows:
the package is installed as follows.
The detailed explanation of the commands is available in the documentation.
```
git clone --recursive git@gepgitlab.laas.fr:loco-3d/sot-talos-balance.git
......
......@@ -423,7 +423,7 @@ COLS_IN_ALPHA_INDEX = 4
# have to redo this when upgrading to a newer version of doxygen or when
# changing the value of configuration settings such as GENERATE_TREEVIEW!
# HTML_HEADER =
HTML_HEADER = @PROJECT_SOURCE_DIR@/doc/header.html
# HTML_EXTRA_FILES +=
# The HTML_FOOTER tag can be used to specify a personal HTML footer for
......@@ -451,7 +451,7 @@ HTML_FOOTER =
# the standard style sheet and is therefore more robust against future updates.
# Doxygen will copy the style sheet files to the output directory.
# HTML_EXTRA_STYLESHEET = @PROJECT_SOURCE_DIR@/doc/customdoxygen.css
HTML_EXTRA_STYLESHEET = @PROJECT_SOURCE_DIR@/doc/customdoxygen.css
# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output.
# Doxygen will adjust the colors in the style sheet and background images
......
# Overview {#index}
<!--
//
// Copyright (c) 2016, 2018 CNRS
// Author: Florent Lamiraux, Justin Carpentier, Guilhem Saurel
//
// This file is part of Pinocchio
// Pinocchio is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// Pinocchio is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// Pinocchio If not, see
// <http://www.gnu.org/licenses/>.
-->
\section OverviewIntro Introduction to sot-talos-balance
The library sot-talos-balance allows to execute your trajectory with the help of a stabilizer
You can find the full installation procedure <a href="md_doc_installation.html">in the installation page</a>
Quick instructions on how to run a test can be found <a href="md_doc_running.html">here</a>
/* Customizing Doxygen output */
/* Needed to allow line breaks in tables*/
.memberdecls {
table-layout: fixed;
width: 100%;
}
/* Needed to break long template names*/
.memTemplItemLeft {
white-space: normal !important;
word-wrap: break-word;
}
/* Needed to break long template names*/
.memItemLeft {
white-space: normal !important;
word-wrap: break-word;
}
<!-- HTML header for doxygen 1.8.11-->
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen $doxygenversion"/>
<!--BEGIN PROJECT_NAME--><title>$projectname: $title</title><!--END PROJECT_NAME-->
<!--BEGIN !PROJECT_NAME--><title>$title</title><!--END !PROJECT_NAME-->
<link href="$relpath^tabs.css" rel="stylesheet" type="text/css"/>
<link href="$relpath^pinocchio.ico" rel="icon" type="image/x-icon">
<script type="text/javascript" src="$relpath^jquery.js"></script>
<script type="text/javascript" src="$relpath^dynsections.js"></script>
$treeview
$search
$mathjax
<link href="$relpath^$stylesheet" rel="stylesheet" type="text/css" />
$extrastylesheet
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<!--BEGIN TITLEAREA-->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
<tbody>
<tr style="height: 56px;">
<!--BEGIN PROJECT_LOGO-->
<td id="projectlogo"><img alt="Logo" src="$relpath^$projectlogo"/></td>
<!--END PROJECT_LOGO-->
<!--BEGIN PROJECT_NAME-->
<td id="projectalign" style="padding-left: 0.5em;">
<div id="projectname">$projectname
<!--BEGIN PROJECT_NUMBER-->&#160;<span id="projectnumber">$projectnumber</span><!--END PROJECT_NUMBER-->
</div>
<!--BEGIN PROJECT_BRIEF--><div id="projectbrief">$projectbrief</div><!--END PROJECT_BRIEF-->
</td>
<!--END PROJECT_NAME-->
<!--BEGIN !PROJECT_NAME-->
<!--BEGIN PROJECT_BRIEF-->
<td style="padding-left: 0.5em;">
<div id="projectbrief">$projectbrief</div>
</td>
<!--END PROJECT_BRIEF-->
<!--END !PROJECT_NAME-->
<!--BEGIN DISABLE_INDEX-->
<!--BEGIN SEARCHENGINE-->
<td>$searchbox</td>
<!--END SEARCHENGINE-->
<!--END DISABLE_INDEX-->
</tr>
</tbody>
</table>
</div>
<!--END TITLEAREA-->
<!-- end header part -->
# Installation
1. Clone the git repository:
```
git clone --recursive git@gepgitlab.laas.fr:loco-3d/sot-talos-balance.git
cd sot-talos-balance
```
2. If you need it, switch to the devel branch
```
git checkout devel
```
3. Create the build directory and move there
```
mkdir build
cd build
```
4. Run cmake
```
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/openrobots ..
```
5. Build the package
```
make -j4
```
6. Install the package
```
make install
```
# Running a test
In the following, we quickly demonstrate how to run a test with sot-talos-balance.
## Start the simulation
First of all, you need to start the simulation.
To start Gazebo, load a scene and spawn Talos, the simplest way is to directly use the launch file provided by PAL, without een using sot-talos-balance
```
roslaunch talos_gazebo talos_gazebo.launch
```
Notice that this will spawn Talos at configuration zero. This is not always what you want.
The package sot-talos-balance offers different launch files to spawn it at different configurations.
Most commonly, you might want to spawn the robot in the half-sitting position
```
roslaunch sot_talos_balance talos_gazebo_half_sitting.launch
```
If you ever need a different configuration, all you have to do is taking talos_gazebo_half_sitting.launch, copying it with a different name and modifying it.
## Start the SoT in position mode
To start the SoT in simulation in position mode:
```
roslaunch roscontrol_sot_talos sot_talos_controller_gazebo.launch
```
## Run the test
First of all, you need to go to the folder where your script is.
For instance, for running the standard tests of sot-talos-balance,
assuming you are in the root directory:
```
cd python/sot_talos_balance/test
```
Then, you can just run the chosen test. For instance:
```
python test_dcmZmpControl_file.py
```
## Interacting with the dynamic graph
If you want to dynamically interact with the graph
```
rosrun dynamic_graph_bridge run_command
```
## Other
More information on how to use the SoT and how to work on Talos can be found <a href="https://wiki.laas.fr/robots/Pyrene">in the robot wiki page</a> (you need LAAS permissions to access this).
//
// Copyright (c) 2016 CNRS
// Author: Florian Valenza
//
// This file is part of Pinocchio
// Pinocchio is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// Pinocchio is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// Pinocchio If not, see
// <http://www.gnu.org/licenses/>.
//
// This file strutures pages and modules into a convenient hierarchical structure.
//
namespace dynamicgraph {
namespace sot {
namespace talos_balance {
//
// Pages/ tutorials organization
//
// \page md_doc_installation
// \page md_doc_running
}
}
}
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment