Whole-Body Control Framework for the Amigo service robot at the TU/e
If you have a TU/e installation, just use the following command, that should pull all the dependencies.
tue-get install amigo_whole_body_controller
If you prefer a standard ROS installation, take the following steps.
-
install ROS
-
clone the stack repos into your catkin workspace.
$ cd ~/catkin_ws
$ wstool set amigo_whole_body_controller --git
$ wstool up
-
build it using catkin
$ catkin_make
To run the controller, use the start.launch
launchfile.
$ roslaunch amigo_whole_body_controller start.launch