From f3d1720c4ce2cb15946e3e5d61f1fb8665ce5ce6 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Tue, 8 May 2018 15:43:35 +0200
Subject: [PATCH] Add README.md

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+ This metapackage allows starting the stack of tasks for TALOS.
+
+## 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
+``
+
+
+
-- 
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