Commit 28d8b2d2 authored by SKURIC Antun's avatar SKURIC Antun
Browse files

readme update

parent 02f00632
## ROS panda capacity package and catkin
In the `ROS_nodes` directory you can find the implementation of the python capacity module for a specific use case of Panda robot. The directory consists of two ros packages:
This is an example catkin workspace for panda capacity calculation. In the this directory you can find the implementation of the python capacity module for a specific use case of Panda robot. The directory consists of two ros packages:
- hkl-kdl: a fork of http://wiki.ros.org/hrl-kdl
- franka_description: Panda robot definitions from Franka Emika http://wiki.ros.org/franka_description
- **panda_capacity: the capacity solver for Panda robot**
......@@ -7,37 +7,10 @@ In the `ROS_nodes` directory you can find the implementation of the python capac
### Install the ros packages - using catkin
To run panda robot capacity calculation nodes first clone the repository and submodules:
```shell
git clone --recurse-submodules git@gitlab.inria.fr:askuric/polytope_vertex_search.git
git@gitlab.inria.fr:auctus-team/people/antunskuric/ros/catkin_workspaces/panda_capacity_ws.git
cd panda_capacity_ws
```
`panda_capacity` package will calculate is an example implementation of the task space capacity calculation for for Franka Emika Panda robot in a form of a catkin ros package.
It uses the library KDL for reading the robot urdf ad it depends on
- hrl-kdl package (https://gitlab.inria.fr/auctus-team/people/antunskuric/ros_nodes/hrl-kdl)
- franka_description package (https://gitlab.inria.fr/auctus/panda/torque-qp-extended/franka_description)
The three packages are shown in the `ROS/packages` folder. And you can find an example catkin workspace in the `ROS/catkin_ws` folder.
#### Create your won catkin workspace
Then create new catkin workspace:
```shell
mkdir ~/capacity_ws && cd ~/capacity_ws/
mkdir src && cd src
```
Then you can either copy the folders from `ROS/packages` into the `capacity_ws/src` folder for example:
```shell
cp -r ~/polytope_vertex_search/ROS/packages/* .
```
or clone the packages directly
```shell
git clone git@gitlab.inria.fr:auctus-team/people/antunskuric/ros_nodes/panda_capacity.git
git clone git@gitlab.inria.fr:auctus/panda/torque-qp-extended/franka_description.git
git clone git@gitlab.inria.fr:auctus-team/people/antunskuric/ros_nodes/hrl-kdl.git
```
Finally you can build the workspace
And then just build the workspace
```shell
cd ..
catkin_make # catkin build
......
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