TIAGo Posture Regulation

Installation

To make sure everything is working properly make sure you have Ubuntu 18.04 with ROS Melodic. Install catkin_tools, create a catkin workspace and clone this repository in the src folder. Make sure you are compiling in Release mode by properly setting your catkin workspace:

catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release

Build your code by running the following command:

catkin build

Usage

To run the Gazebo simulation:

roslaunch tiago_gazebo tiago_gazebo.launch public_sim:=true robot:=steel world:=empty

To run the posture regulation module:

roslaunch tiago_posture_regulation tiago_posture_regulation.launch