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Stack Of Tasks
tiago_metapkg_ros_control_sot
Commits
d1359004
Commit
d1359004
authored
Apr 29, 2019
by
Olivier Stasse
Browse files
[sot_tiago_bringup] Add files for geometric controller simulation
parent
e7563ad4
Changes
5
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sot_tiago_bringup/CMakeLists.txt
0 → 100644
View file @
d1359004
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
${
CATKIN_PACKAGE_SHARE_DESTINATION
}
/
)
#setup_project_finalize()
sot_tiago_bringup/README.md
0 → 100644
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d1359004
Launching geometric_simu with Talos
===================================
1/ Lancer ros et le simulateur geometric
roslaunch sot_tiago_bringup geometric_simu.launch
2/ Lancer la connection a dynamic_graph_bridge
rosrun dynamic_graph_bridge run_command
3/ Construire son graphe dans la commande
4/ Demarrer la commande
rosservice call /start_dynamic_graph
5/ Lancer rviz
rosrun rviz rviz
sot_tiago_bringup/launch/geometric_simu.launch
0 → 100644
View file @
d1359004
<!-- -*-xml-*-
Handle ROS simulation of the SoT.
-->
<launch>
<!-- Which robot are we controlling ? -->
<arg
name=
"robot"
default=
"tiago"
/>
<arg
name=
"libsot"
default=
"libsot-tiago-controller.so"
/>
<arg
name=
"sot-launch-prefix"
default=
""
/>
<include
file=
"$(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
0 → 100644
View file @
d1359004
<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
0 → 100644
View file @
d1359004
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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