3 In the following, we quickly demonstrate how to run a test with sot-talos-balance.
5 ## Start the simulation
7 First of all, you need to start the simulation.
9 To start Gazebo, load a scene and spawn Talos, the simplest way is to directly use the launch file provided by PAL, without een using sot-talos-balance
11 roslaunch talos_gazebo talos_gazebo.launch
14 Notice that this will spawn Talos at configuration zero. This is not always what you want.
15 The package sot-talos-balance offers different launch files to spawn it at different configurations.
17 Most commonly, you might want to spawn the robot in the half-sitting position
19 roslaunch sot_talos_balance talos_gazebo_half_sitting.launch
22 If you ever need a different configuration, all you have to do is taking talos_gazebo_half_sitting.launch, copying it with a different name and modifying it.
24 ## Start the SoT in position mode
26 To start the SoT in simulation in position mode:
28 roslaunch roscontrol_sot_talos sot_talos_controller_gazebo.launch
33 First of all, you need to go to the folder where your script is.
34 For instance, for running the standard tests of sot-talos-balance,
35 assuming you are in the root directory:
38 cd python/sot_talos_balance/test
41 Then, you can just run the chosen test. For instance:
44 python test_dcmZmpControl_file.py
47 ## Interacting with the dynamic graph
49 If you want to dynamically interact with the graph
52 rosrun dynamic_graph_bridge run_command
57 More information on how to use the SoT and how to work on Talos can be found <a href="https://wiki.laas.fr/robots/Pyrene">in the robot wiki page</a> (you need LAAS permissions to access this).