This package provides "simple" interfaces for using TSID with ROS robots, aswell as some examples.
The library prl_tsid provides mainly one class :
- PathFollower : a class that execute a HPP plan using TSID.
It also provides some examples with launchfiles.
Dependencies:
- rospy : http://wiki.ros.org/ROS/Installation
- tsid : https://github.com/stack-of-tasks/tsid/
- pinocchio : https://stack-of-tasks.github.io/pinocchio/download.html
- prl_pinocchio : link
- prl_hpp : link
roslaunch prl_tsid sim.launch
rosrun prl_tsid example_hpp.py