orwell

This library implements a general interface for controlling robots.

Installation

This is an interface library, i.e. it is header-only. There are multiple ways of using it in your project.

Dependencies

• Eigen
• sackmesser

Subdirectory

Clone this repository directly into your project tree and add

add_subdirectory(orwell)

to your CMakeLists.txt

and then add

target_link_libraries(TARGET PUBLIC orwell)

System

This library can be installed system-wide using the following list of commands:

mkdir build && cd build
cmake ..
make
make install

Afterwards orwell can be used by adding

find_package(orwell REQUIRED)
target_link_libraries(TARGET PUBLIC orwell)

to your CMakeLists.txt

ROS

This repository contains package.xml, so it can also be placed directly in a ROS workspace.

Afterwards orwell can be used by other packages in the workspace by adding

find_package(orwell REQUIRED)
target_link_libraries(TARGET PUBLIC orwell)

to your CMakeLists.txt

Usage

This library is agnostic of the kinematics/dynamics library that is being used. Therefore, in order to use it, you must provide an interface to your desired kinematics/dynamics library. This is achieved by deriving from RobotModel.

Then assuming you have an instance of RobotModel and sackmesser::Interface a controller manager should be created:

orwell::ControllerManager<7> controller_manager(interface, robot_model);

This will load controllers according to the provided configuration file. The desired controller can then be loaded via get methods, e.g.

auto controller = controller_manager.getTorqueController("CONTROLLER_NAME");

This controller should then be placed in your control loop with calls to getControlCommand, i.e.

controller->getControlCommand(robot_state);

where robot_state is an instance of RobotState, which contains the current robot state.

Documentation

The full library documentation can be found here.