sot-talos-balance  1.5.0
Running a test

In the following, we quickly demonstrate how to run a test with sot-talos-balance.

Start the simulation

First of all, you need to start the simulation.

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

roslaunch talos_gazebo talos_gazebo.launch

Notice that this will spawn Talos at configuration zero. This is not always what you want. The package sot-talos-balance offers different launch files to spawn it at different configurations.

Most commonly, you might want to spawn the robot in the half-sitting position

roslaunch sot_talos_balance talos_gazebo_half_sitting.launch

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.

Start the SoT in position mode

To start the SoT in simulation in position mode:

roslaunch roscontrol_sot_talos sot_talos_controller_gazebo.launch

Run the test

First of all, you need to go to the folder where your script is. For instance, for running the standard tests of sot-talos-balance, assuming you are in the root directory:

cd python/sot_talos_balance/test

Then, you can just run the chosen test. For instance:

python test_dcmZmpControl_file.py

Interacting with the dynamic graph

If you want to dynamically interact with the graph

rosrun dynamic_graph_bridge run_command

Other

More information on how to use the SoT and how to work on Talos can be found in the robot wiki page (you need LAAS permissions to access this).