This metapackage allows starting the stack of tasks for TALOS.
Introduction
Two methods to use the SoT with TALOS are possible:
- 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.
- 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