Welcome to CartesI/O’s documentation!
A novel Cartesian control framework with a focus on online control of multi-chained, hyper-redundant floating-base robots!
Features
multiple task specification
ability to enforce soft priorities as well as hard priorities between tasks
ability to specify constraints in the task execution
small computation time (suitable for online execution)
possibility to execute inside a real-time thread in order to reduce delays and jitter
ease of configuration and use, quick setup time and ready to use control tools
parametrized with standard description formats (e.g. URDF) in order to support multiple platforms
handling of floating base robots
heavily customizable through plugins, at almost all layers
How to install
A binary distribution is available by adding a new source (with the corresponding GPG key) to
apt, and then invoking the usual update/install commands:
sudo sh -c 'echo "deb http://xbot.cloud/xbot2/ubuntu/$(lsb_release -sc) /" > /etc/apt/sources.list.d/xbot-latest.list'
wget -q -O - http://xbot.cloud/xbot2/ubuntu/KEY.gpg | sudo apt-key add -
sudo apt update
sudo apt install cartesian_interface
To use the software, sourcing the installed environment script is required.
You can add the line source /opt/xbot/setup.sh to your .bashrc file.
Cite our work
..with the bibtex below!
@inproceedings{laurenzi19cartesio,
author={A. {Laurenzi} and E. M. {Hoffman} and L. {Muratore} and N. G. {Tsagarakis}},
booktitle={2019 International Conference on Robotics and Automation (ICRA)},
title={{CartesI/O: A ROS Based Real-Time Capable Cartesian Control Framework}},
year={2019},
pages={591-596},
doi={10.1109/ICRA.2019.8794464},
ISSN={1050-4729},
month={May},}
Contents
Start from here!