README.md

 This metapackage allows starting the stack of tasks for TALOS.

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## 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
``