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[doc] Installation and running

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......@@ -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
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# the standard style sheet and is therefore more robust against future updates.
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# 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>
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# 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
}
}
}
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