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This metapackage allows starting the stack of tasks for TALOS.

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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