sot-tiago
1.5.0
dynamic-graph package for Tiago robot
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The complete installation is done according to the following steps:
sudo tee /etc/apt/sources.list.d/robotpkg.list <<EOF deb [arch=amd64] http://robotpkg.openrobots.org/wip/packages/debian/pub $(lsb_release -cs) robotpkg deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg EOFRegister the robotpkg authentication key
curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -
sudo apt-get update sudo apt-get install robotpkg-tiago-dev sudo apt-get install robotpkg-octomap
/opt/openrobots/lib/python2.7/site-packages/dynamic_graph/sot/tiago/steel/prologue.pyIt should has the following lines to bridge eigenpy and numpy
import eigenpy eigenpy.switchToNumpyMatrix()
/home/pal/.bashrcsuch that it contains the following line:
. /home/pal/setup-opt-robotpkg.sh
ssh pal@tiago-48c
su
rw chroot /ro
rsync -chavzP --stats pal@development:/opt/openrobots /opt
/opt/pal/erbium/share/tiago_bringup/config/tiago_hardware.yaml
joint_mode_black_list: ['head_controller', 'whole_body_kinematic_controler', 'whole_body_kinematic_controller', 'torso_controller']to
joint_mode_black_list: ['roscontrol_sot_tiago','tiago_roscontrol_test','head_controller', 'whole_body_kinematic_controler', 'whole_body_kinematic_controller', 'torso_controller']This change will allow the new controller works properly for tiago's torso
exit ro exit
ssh pal@tiago-48c sudo reboot