Commit 5b34b4d4 authored by Guilhem Saurel's avatar Guilhem Saurel
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gepgitlab → gitlab

parent 16ea14d4
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# Introduction
This package encapsulates a SoT graph to control a robot in the ros-control framework.
The intent is to make it generic and adapted to any robot through rosparam.
As the Stack-Of-Taks is a whole-body controller it tries to connect to all the available
resources of the robot.
resources of the robot.
# rosparam
......@@ -42,7 +42,7 @@ For instance:
torso_1_joint,torso_2_joint,head_1_joint, head_2_joint,
arm_left_1_joint, arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint, arm_left_7_joint, gripper_left_joint,
arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint, gripper_right_joint
]
]
```
## Specifying the map between the ros control data and the sot device entity.
......@@ -68,7 +68,7 @@ using the __control_mode__ variable:
```
control_mode: EFFORT
```
```
# Logging
......
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