agimus_controller

Getting started

In order to build this package one need various complexe codes:

• Humanoid Path Planneur
• Agimus software
• Croccodyl

All of these are built in a single docker: gitlab.laas.fr:4567/agimus-project/agimus_dev_container:noetic-devel

One can simply use this package in order to use the docker in the VSCode development editor. https://gitlab.laas.fr/agimus-project/agimus_dev_container

Run one application.

Pick an place scenario using HPP

We use the Humnaoid Path Planner in order to get a path and then build a whole-body model predictive controller that tracks the planned trajectory.

Once the code is built one can run these in several terminals inside the docker:

• roscore
• hppcorbaserver
• gepetto-gui
• run the script:
  • with python3: python3 -i -m agimus_controller.main.main_hpp_mpc -N=1
  • with ipython3: ipython3 -i -m agimus_controller.main.main_hpp_mpc -- -N=1

For one to simply run the node individually.

rosrun agimus_controller agimus_controller_node

roslaunch agimus_controller hpp_agimus_controller.launch

For a more complete setup see the https://github.com/agimus-project/agimus_pick_and_place package.

Start gazebo:

$ hppcorbaserver
$ gepetto-gui
$ roslaunch panda_torque_mpc simulation.launch arm_id:=panda simulate_camera:=false
$ roslaunch panda_torque_mpc obstacle_visualizer.launch spawn_in_gz:=true
$ ROS_NAMESPACE=/ctrl_mpc_linearized rosrun agimus_controller hpp_agimus_controller_node