README.md 1.15 KB
Newer Older
Olivier Stasse's avatar
Olivier Stasse committed
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38
 This metapackage allows starting the stack of tasks for TALOS.

## Introduction

Two methods to use the SoT with TALOS are possible:

 1.  One based on roscontrol_sot which is using the roscontrol interface. The SoT is then acting as a Controller object interacting with the hardware interface. This is was is used with Gazebo and on the real robot.
 2. One based on geometric-simu. This software is simply a taking the control provided by the SoT and integrates it using a Euler scheme. The order of integration is chosen automatically according to the control law.

## Using roscontrol_sot 

### On Gazebo
 
To start the SoT in position mode control:
    roslaunch roscontrol_sot_talos sot_talos_controller_gazebo.launch
    
To start the SoT in effort mode control:
	roslaunch roscontrol_sot_talos sot_talos_controller_gazebo_effort.launch

### On the real robot

To start the SoT in position mode control:
``
roslaunch roscontrol_sot_talos sot_talos_controller.launch
`` 
To start the SoT in effort mode control:
``
roslaunch roscontrol_sot_talos sot_talos_controller_effort.launch
``

## Using geometric_simu

``
roslaunch sot_pyrene_bringup geometric_simu.launch
``