<> <> == Overview == The '''vigir_step_control''' provides a step queue management system and a state machine to keep track of current step plan execution. It is able to feed the low-level motion layer with the proper number of steps required for seamless execution while continuously merging incoming step plans provided by the [[vigir_footstep_planning|footstep planner]]. This allows even for continuous walking using our [[vigir_footstep_planning|footstep planning]] stack. This package provides following features: * Step Queue Management: * Seamless updates, merges, and stitches of multiple step plans * Convenient step spooler * Easy integration: * Pre-implemented state machine simplifies deployment * Comprehensive interface plugin as conveyor between footstep planning and motion execution layer For detailed information about the system please take a look at the [[vigir_step_control/Tutorials/SystemOverview|tutorial page]]. == Getting Started == === Installation === The '''vigir_step_control''' packages can be downloaded from Git``Hub: * https://github.com/team-vigir/vigir_step_control.git Furthermore you may need to download the dependencies as well (if not already done): * https://github.com/team-vigir/vigir_pluginlib.git * https://github.com/team-vigir/vigir_footstep_planning_msgs.git * https://github.com/team-vigir/vigir_footstep_planning_basics.git After a recompile of you workspace everything should be ready to use. <> === Example Startup === In order to run this example. you will need to install the [[vigir_footstep_planning]] stack as well. An install instruction can be found [[vigir_footstep_planning#installation|here]]. After compiled your workspace you start up the system (each line in a seperate terminal): {{{ roscore roslaunch vigir_footstep_planning footstep_planner_test.launch roslaunch vigir_step_control step_controller_test.launch roslaunch vigir_footstep_planning step_interface_rqt.launch }}} In the ''step_interface_widget'' you have first to select a footstep planner parameter set. Afterwards the direction commands become available which allows to generate simple pattern of footsteps. As soon a footstep plan has been generated the ''Execute'' button becomes active as well. When you click on this button the previously generated footsteps will be executed virtually by the `StepControllerTestPlugin` which fakes an footstep execution. During the fake execution, you will be able to follow the fake execution in the ''step_interface_widget'' by the progress bar. '''Note:''' If you would like to see the system running with a real robot, then you can get in touch with it using the THORMANG3 in simulation. The full install instruction can be found [[vigir_footstep_planning#thormang3_demo|here]]. == Tutorial == '''A Tutorial will be added step by step [[vigir_step_control/Tutorials|here]] soon. In the meantime feel free to contact us, if you have further questions!''' == Sample Applications == === THORMANG3 === The THORMANG3 provides a nice real world example how to migrate the software into an exisiting setup [[https://github.com/thor-mang/ROBOTIS-THORMANG-MPC/tree/indigo-devel/thormang3_step_control_module|here]]. During the Humanoids@Robo``Cup Demo 2016 at Leipzig, the step controller was used. <> ==== THORMANG3 Demo ==== If you would like to try it out in simulation by yourself, then just follow the instructions [[vigir_footstep_planning#thormang3_demo|here]]. ## AUTOGENERATED DON'T DELETE ## CategoryPackage