Commit 9bb3b52f authored by Olivier Stasse's avatar Olivier Stasse

Add sot_pyrene_bringup in the metapkg talos.

parent 84a429d7
cmake_minimum_required(VERSION 2.6)
project(sot_pyrene_bringup)
find_package(catkin REQUIRED)
catkin_package()
#set(PROJECT_NAME sot_talos_bringup)
#set(PROJECT_DESCRIPTION ROS package for Stack of Tasks on Talos)
#set(PROJECT_URL "")
#setup_project()
INSTALL(
FILES
DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME}/config
)
INSTALL(
FILES
launch/geometric-simu.launch
DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME}/launch
)
INSTALL(
FILES
package.xml
DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME}/
)
#setup_project_finalize()
Launching geometric_simu with Talos
===================================
1/ Lancer ros et le simulateur geometric
roslaunch sot_pyrene_bringup geometric_simu.launch
2/ Lancer la connection a dynamic_graph_bridge
rosrun dynamic_graph_bridge run_command
3/ Construire son graphe dans la commande
4/ Demarrer la commande
rosservice call /start_dynamic_graph
5/ Lancer rviz
rosrun rviz rviz
<!-- -*-xml-*-
Handle ROS simulation of the SoT.
-->
<launch>
<!-- Which robot are we controlling ? -->
<arg name="robot" default="pyrene" />
<arg name="libsot" default="libsot-pyrene-controller.so" />
<include file="$(find sot_pyrene_bringup)/launch/geometric_simu_context.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="libsot" value="$(arg libsot)" />
</include>
<!-- Load Stack of Tasks. -->
<node machine="geometric_simu_machine"
name="node_stack_of_tasks"
pkg="dynamic_graph_bridge"
type="geometric_simu"
args=" --input-file $(arg libsot)"
respawn="true">
<param name="/sot/dg/geometric_simu" value="" />
</node>
</launch>
<!-- -*-xml-*-
Handle ROS simulation of the SoT.
-->
<launch>
<!-- Which robot are we controlling ? -->
<arg name="robot" default="pyrene" />
<arg name="libsot" default="libsot-pyrene-controller.so" />
<!-- BTW we are in simulation ? -->
<!-- Load robot model. -->
<param name="robot_description"
textfile="$(find talos_data)/urdf/talos_reduced.urdf" />
<machine name="geometric_simu_machine"
address="localhost">
</machine >
<!--
Read joint_states topic and publish link positions to tf.
openhrp_bridge publishes encoder values to the joint_states topic
therefore, this provide the most reliable way of identifying link
relative position on HRP-2.
-->
<node name="robot_state_publisher"
pkg="robot_state_publisher"
type="state_publisher"
respawn="true">
<param name="tf_prefix" value="" />
</node>
<!-- Buffer Server -->
<node pkg="tf2_ros" type="buffer_server"
name="tf2_buffer_server" respawn="true">
<param name="buffer_size" value="120.0"/>
</node>
</launch>
<package>
<name>sot_pyrene_bringup</name>
<version>0.0.1</version>
<description>ROS package for Stack of Tasks on Pyrene</description>
<maintainer email="ostasse@laas.fr">Olivier Stasse</maintainer>
<license>BSD</license>
<url type="website">http://redmine.laas.fr/</url>
<author>Olivier Stasse</author>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>talos_description</build_depend>
<run_depend>roscpp</run_depend>
<run_depend>talos_description</run_depend>
<export>
</export>
</package>
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