jannikb / giskard

A library and some ROS nodes for robot motion control.

giskard

A library and some ROS nodes for robot motion control.

Installation

.rosinstall:

- git: {local-name: src/giskard, uri: '[email protected]:airballking/giskard.git'}
- git: {local-name: src/expressiongraph, uri: '[email protected]:airballking/expressiongraph.git'}
- git: {local-name: src/qpOASES, uri: '[email protected]:airballking/qpOASES.git'}

• roscd expressiongraph
• git checkout catkin
• catkin_make run_tests (2 fails: expressiongraph.Frame, expressiongraph.Rotation)

Parsing urdfs into yamls

rosrun giskard extract_expression <start_link> <end_link> <urdf_file> (optional <output_file>)

Example: rosrun giskard extract_expression torso_lift_link l_wrist_roll_link test_data/pr2.urdf asd.yaml