giskard_core

The core C++ library of giskard, a constraint- and optimization-based framework for robot motion control.

Installation

Using catkin_tools and wstool in a new workspace for ROS Indigo:

source /opt/ros/indigo/setup.bash          # start using ROS Indigo
mkdir -p ~/giskard_ws/src                  # create directory for workspace
cd ~/giskard_ws                            # go to workspace directory
catkin init                                # init workspace
cd src                                     # go to source directory of workspace
wstool init                                # init rosinstall
wstool merge https://raw.githubusercontent.com/SemRoCo/giskard_core/master/rosinstall/catkin.rosinstall
                                           # update rosinstall file
wstool update                              # pull source repositories
rosdep install --ignore-src --from-paths . # install dependencies available through apt
cd ..                                      # go to workspace directory
catkin build                               # build packages
source ~/giskard_ws/devel/setup.bash       # source new overlay

Parsing urdfs into yamls

rosrun giskard_core extract_expression <start_link> <end_link> <urdf_file> (optional <output_file>)

Example: rosrun giskard_core extract_expression torso_lift_link l_wrist_roll_link test_data/pr2.urdf asd.yaml