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.

1. install ROS

2. clone the stack repos into your catkin workspace.

   • $ cd ~/catkin_ws
   • $ wstool set amigo_whole_body_controller --git
   • $ wstool up

3. build it using catkin

   • $ catkin_make

To run the controller, use the start.launch launchfile.

$ roslaunch amigo_whole_body_controller start.launch