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Sl1m ROS

This is a ROS wrapper around the sl1m package.

Build the package to install it

Clone the repository in your catkin workspace and then do catkin build

Run demo

There is a demo self contained roslaunch allowing you to optimize a trajectory for a simple biped robot from:

  • Left foot pose: [-0.2, 0.1, 0.0]
  • Right foot pose: [-0.2, -0.1, 0.0] to:
  • Left foot pose: [0.3, 0.1, 0.0]
  • Right foot pose: [0.3, -0.1, 0.0] In 4 steps.
source install/setup.bash
roslaunch sl1m_ros demo_sl1m_ros.launch

Then publish the desired goal:

rostopic pub /sl1m_ros/destination_contact tf2_msgs/TFMessage "[ {transform: { translation: { x: 0.3, y: 0.1, z: 0} } } ,{transform: { translation: { x: 0.3, y: -0.1, z: 0}}}]"