sot-talos-balance  1.5.0
running.md
Go to the documentation of this file.
1 # Running a test
2 
3 In the following, we quickly demonstrate how to run a test with sot-talos-balance.
4 
5 ## Start the simulation
6 
7 First of all, you need to start the simulation.
8 
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
10 ```
11 roslaunch talos_gazebo talos_gazebo.launch
12 ```
13 
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.
16 
17 Most commonly, you might want to spawn the robot in the half-sitting position
18 ```
19 roslaunch sot_talos_balance talos_gazebo_half_sitting.launch
20 ```
21 
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.
23 
24 ## Start the SoT in position mode
25 
26 To start the SoT in simulation in position mode:
27 ```
28 roslaunch roscontrol_sot_talos sot_talos_controller_gazebo.launch
29 ```
30 
31 ## Run the test
32 
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:
36 
37 ```
38 cd python/sot_talos_balance/test
39 ```
40 
41 Then, you can just run the chosen test. For instance:
42 
43 ```
44 python test_dcmZmpControl_file.py
45 ```
46 
47 ## Interacting with the dynamic graph
48 
49 If you want to dynamically interact with the graph
50 
51 ```
52 rosrun dynamic_graph_bridge run_command
53 ```
54 
55 ## Other
56 
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).
58 
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