This package provides a ros2 control interface for the Whole-Body Control library.
WBC was initiated and is currently developed at the Robotics Innovation Center of the German Research Center for Artificial Intelligence (DFKI) in Bremen.
Currently supported OS: Ubuntu22.04
wbc_ros requires a ROS2 installation (humble is the only tested distribution) as well as the WBC library. See package.xml for further dependencies.
See here for installation instructions.
Unit tests can be found in the wbc library.
Run
colcon test --packages-select wbc_ros
to execute all launch tests which can be found here. For more verbosity, you can also execute the tests manually by typing
launch_test install/wbc_ros/share/wbc_ros/test/<test_name>.test.py
Check out the tutorials in the [documentation(https://arc-opt.github.io/Documentation/).
Please use the issue tracker to submit bug reports and feature requests.
Please use merge requests as described here to add/adapt functionality.
wbc_ros is distributed under the 3-clause BSD license.
If you use WBC within your scientific work, please cite the following publication:
@INPROCEEDINGS{mronga2022,
author = "D. Mronga and S.Kumar and F.Kirchner",
title = "Whole-Body Control of Series-Parallel Hybrid Robots",
year = "2022",
note = "{2022 IEEE International Conference on Robotics and Automation (ICRA)}, Accepted for publication",
}
WBC has been developed in the research projects TransFit (Grant number 50RA1701) and BesMan (Grant number 50RA1216) funded by the German Aerospace Center (DLR) with funds from the German Federal Ministry for Economic Affairs and Climate Action (BMWK). It is further developed in the M-Rock (Grant number 01IW21002) and VeryHuman (Grant number 01IW20004) projects funded by the German Aerospace Center (DLR) with federal funds from the German Federal Ministry of Education and Research (BMBF).
Dennis Mronga, [email protected]
Copyright 2017, DFKI GmbH / Robotics Innovation Center