Commit 2d4fce53 authored by stonneau's avatar stonneau Committed by GitHub
Browse files

Merge pull request #6 from stonneau/master

Updating documentation
parents 63770c1f 1a8f7928
......@@ -169,3 +169,4 @@ install(FILES
PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
SETUP_PROJECT_FINALIZE()
......@@ -15,11 +15,19 @@ To install hpp-rbprm-corba:
1. install HPP-RBPRM
- see https://github.com/stonneau/hpp-rbprm
2. If necessary, install hpp-corba-template
git clone --recursive https://github.com/laas/hpp-template-corba.git
cd hpp-template-corba/
mkdir build && cd build
cmake ..
make install
2. Use CMake to install the library. For instance:
mkdir $HPP_RBPRM_CORBA_DIR/build
cd $HPP_RBPRM_CORBA_DIR/build
cd cmake ..
cmake ..
make install
......@@ -40,9 +48,11 @@ To install hpp-rbprm-corba:
https://github.com/iit-DLSLab/hyq-description
```$ rosrun xacro xacro.py hyq_description/robots/hyq_model.urdf.xacro -o hyq.urdf```
```$ rosrun xacro xacro.py hyq_description/robots/hyq.urdf.xacro -o hyq.urdf```
- Make sure to install hyq.urdf in $HPP_DEVEL_DIR/install/share/hpp-rbprm-corba/
- Also, create an empty hyq.srdf file in $HPP_DEVEL_DIR/install/share/hpp-rbprm-corba/srdf
- The planning is decomposed in two phases / scripts. First, a root path is computed (\*_path.py files). Then, the contacts are generated along the computed path (\*_interp.py files). The scripts are located in the folder /scripts/scenarios.
......
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