Commit d1359004 authored by Olivier Stasse's avatar Olivier Stasse

[sot_tiago_bringup] Add files for geometric controller simulation

parent e7563ad4
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 ${CATKIN_PACKAGE_SHARE_DESTINATION}/
)
#setup_project_finalize()
Launching geometric_simu with Talos
===================================
1/ Lancer ros et le simulateur geometric
roslaunch sot_tiago_bringup geometric_simu.launch
2/ Lancer la connection a dynamic_graph_bridge
rosrun dynamic_graph_bridge run_command
3/ Construire son graphe dans la commande
4/ Demarrer la commande
rosservice call /start_dynamic_graph
5/ Lancer rviz
rosrun rviz rviz
<!-- -*-xml-*-
Handle ROS simulation of the SoT.
-->
<launch>
<!-- Which robot are we controlling ? -->
<arg name="robot" default="tiago" />
<arg name="libsot" default="libsot-tiago-controller.so" />
<arg name="sot-launch-prefix" default="" />
<include file="$(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>
<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:
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
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