From f3d1720c4ce2cb15946e3e5d61f1fb8665ce5ce6 Mon Sep 17 00:00:00 2001 From: Olivier Stasse Date: Tue, 8 May 2018 15:43:35 +0200 Subject: [PATCH] Add README.md --- README.md | 38 ++++++++++++++++++++++++++++++++++++++ 1 file changed, 38 insertions(+) create mode 100644 README.md diff --git a/README.md b/README.md new file mode 100644 index 0000000..b034466 --- /dev/null +++ b/README.md @@ -0,0 +1,38 @@ + 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 +`` + + +