[sot_tiago_bringup] Add files for geometric controller simulation

sot_tiago_bringup/CMakeLists.txt

+cmake_minimum_required(VERSION 2.6)
+
+project(sot_tiago_bringup)
+
+find_package(catkin REQUIRED)
+catkin_package()
+
+#set(PROJECT_NAME sot_tiago_bringup)
+#set(PROJECT_DESCRIPTION ROS package for Stack of Tasks on Tiago)
+#set(PROJECT_URL "")
+
+#setup_project()
+
+INSTALL(
+  FILES 
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
+)
+
+INSTALL(
+  FILES
+  launch/geometric_simu.launch
+  launch/geometric_simu_context.launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+)
+
+INSTALL(
+  FILES
+  sot/tiago.yaml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/sot
+)
+
+INSTALL(
+  FILES
+  package.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/
+)
+
+#setup_project_finalize()
+

sot_tiago_bringup/README.md

+Launching geometric_simu with Talos
+===================================
+
+1/ Lancer ros et le simulateur geometric
+roslaunch sot_tiago_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

sot_tiago_bringup/launch/geometric_simu.launch

+<!-- -*-xml-*-
+     Handle ROS simulation of the SoT.
+  -->
+<launch>
+  <!-- Which robot are we controlling ? -->
+  <arg name="robot" default="tiago" />
+  <arg name="libsot" default="libsot-tiago-controller.so" />   
+
+  <arg name="sot-launch-prefix" default="" />
+
+  <include file="$(find sot_tiago_bringup)/launch/geometric_simu_context.launch" >
+    <arg name="robot" value="$(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 $(arg libsot)"
+        launch-prefix="$(arg sot-launch-prefix)"
+	respawn="true">
+    <param name="/sot/dg/geometric_simu" value="" />
+  </node>
+
+
+</launch>

sot_tiago_bringup/package.xml

+<package>
+  <name>sot_tiago_bringup</name>
+  <version>0.0.1</version>
+  <description>ROS package for Stack of Tasks on Tiago</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>tiago_description</build_depend>
+
+  <run_depend>roscpp</run_depend>
+  <run_depend>tiago_description</run_depend>
+
+  <export>
+  </export>
+</package>

sot_tiago_bringup/sot/tiago.yaml

+sot:
+  state_vector_map: [  torso_joint,
+    arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint, gripper_joint,
+    head_1_joint,head_2_joint]
+sot_controller:
+  joint_names: [  torso_joint,
+    arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint, gripper_joint,
+  ]
+  dt: 0.001