https://github.com/arc-opt/wbc_ros
ROS2 wrappers for the Whole-Body Control library
Science Score: 26.0%
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○Scientific vocabulary similarity
Low similarity (15.8%) to scientific vocabulary
Repository
ROS2 wrappers for the Whole-Body Control library
Basic Info
- Host: GitHub
- Owner: ARC-OPT
- License: bsd-3-clause
- Language: C++
- Default Branch: main
- Homepage: https://arc-opt.github.io/Documentation/
- Size: 16.6 MB
Statistics
- Stars: 5
- Watchers: 2
- Forks: 0
- Open Issues: 2
- Releases: 1
Metadata Files
README.md
wbc_ros - A ROS 2 interface for the WBC library
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.
Requirements / Dependencies
Currently supported OS: Ubuntu22.04, Ubuntu24.04
wbc_ros requires a ROS2 installation (humble is the only tested distribution) as well as the WBC library. See package.xml for further dependencies.
Installation
See here for installation instructions.
Testing
Unit tests
Unit tests can be found in the wbc library.
Launch Tests
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
Examples
Check out the tutorials in the [documentation(https://arc-opt.github.io/Documentation/).
Contributing
Please use the issue tracker to submit bug reports and feature requests.
Please use merge requests as described here to add/adapt functionality.
License
wbc_ros is distributed under the 3-clause BSD license.
Acknowledge WBC
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",
}
Funding
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).
Maintainer / Authors / Contributers
Dennis Mronga, dennis.mronga@dfki.de
Copyright 2017, DFKI GmbH / Robotics Innovation Center
Owner
- Name: ARC-OPT
- Login: ARC-OPT
- Kind: organization
- Website: https://dfki-ric.github.io/
- Repositories: 4
- Profile: https://github.com/ARC-OPT
Adaptive Robot Control using Optimization
GitHub Events
Total
- Create event: 5
- Release event: 2
- Issues event: 1
- Watch event: 2
- Delete event: 4
- Issue comment event: 1
- Push event: 47
Last Year
- Create event: 5
- Release event: 2
- Issues event: 1
- Watch event: 2
- Delete event: 4
- Issue comment event: 1
- Push event: 47