Add README.md

README.md

+ 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
+``
+
+
+