This package is a tutorial for pal_wbc in order to help the users to create new whole body control tasks and run them on the robot.

In order to compile this package you vill need_

• ROS Kinetic installed on your computer.
• The pal_wbc package, which is a non Public package distributed by PAL robotics.
• The RRBOT robot ROS package.
• The pluginlib ROS package

Create a new workspace

Clone this repository on your workspace

git clone ...

And then compile it

catkin build

In this tutorial, the RRBOT robot can be controlled in two different ways:

1. dynamic_reconfigure
2. ros topics

To launch the robot to control in dynamic reconfigure mode, launch:

# To launch rrbot to be controlled by rqt_reconfigure
roslaunch pal_wbc_tutorials rrbot_wbc_dynamic_reconfigure.launch

Then the user can control the robot by using the slides of the rqt_joint_reconfigure. It's also possible to change online the joint limits from the robot using the rqt_reconfigure.

The second opstion is to control the robot giving a reference for each joint:

# To launch rrbot to be controlled by rostopic
roslaunch pal_wbc_tutorials rrbot_wbc_topic.launch

Then the user can control it by publishing on the topic /whole_body_kinematic_controller/reference_ref

rostopic pub /whole_body_kinematic_controller/reference_ref sensor_msgs/JointState "header:
  seq: 0
  stamp: {secs: 0, nsecs: 0}
  frame_id: ''
name: ['single_rrbot_joint1', 'single_rrbot_joint2']
position: [0.8, 0.8]
velocity: [0.0, 0.0]
effort: [0.0, 0.0]" 

In this package two new whole body control tasks are created:

1. Joint limit task: to ensure joint limts.
2. Reference task: where we specify a reference task for the joints of the robot.

The Joint limit task shows the user how to create new tasks based on inequalities, while the Reference task shows the user how to create a new tasks based on equalities.

Since Whole Body Control is a PAL's implementation of the Stack of Tasks, which is based on optmization. All the new tasks have to be defined as constraints of the optimization problem.

To run the diferents tests.

Compile the tests:

catkin build --make-args tests

And execute them

rostest pal_wbc_tutorials pal_wbc_tutorials_ddynamic_reconfigure_test_one.test

rostest pal_wbc_tutorials pal_wbc_tutorials_ddynamic_reconfigure_test_two.test

rostest pal_wbc_tutorials pal_wbc_tutorials_pop_and_push_task.test

rostest pal_wbc_tutorials pal_wbc_tutorials_topic_test.test

• Sai Kishor
• Adrià Roig