run in docker

Guilhem Saurel authored May 11, 2020 and olivier stasse committed May 11, 2020

rospkg was used to find a path to the current directory. This was
updated in the previous commit, so now rospkg is useless.

Guilhem Saurel authored May 11, 2020 and olivier stasse committed May 11, 2020

I don't even understand this `/lib/`

It does not look very different from the previous but it generates the
CoM and foot-steps trajectories in real time.
The sot-talos-balance test reads precomputed trajectories.

The two commands rostest put in the README.md are working by launching
gazebo and each time a script validating the behavior.
The final position of the link valid if the behavior is correct or
not.

Right not cmake run_tests talos_integration_tests --no-deps
--no-jobserver is not working.

talos_integration_tests
Simplifies CMakeLists.txt

2 integrative tests:

1 - start_talos_gazebo_kine.py
Test SoT in kinematics to generate a whole body motion
(CoM, contact, waist, waist orientation and left hand)

2 - start_sot_talos_balance.py
Test walking and stabilization walking forward 3m.

Change timeout
Add dependency in package.xml to get catkin_make run_tests
(not yet working)

Because the robot is oscillating the measure of the robot position
precision is less than 0.08 m.