Commit f3d1720c authored by Olivier Stasse's avatar Olivier Stasse

Add README.md

parent a3f86023
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
``
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