.. CartesIO documentation master file, created by sphinx-quickstart on Thu Jan 30 12:45:00 2020. You can adapt this file completely to your liking, but it should at least contain the root `toctree` directive. 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 -------- .. image:: features.png :width: 90% :align: center | | - **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! .. code-block:: latex @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 :ref:`here`! .. toctree:: :maxdepth: 2 :caption: Design and usage quickstart design problemdesc rosapi progr_cpp progr_py plugins porting .. toctree:: :maxdepth: 2 :caption: API reference reference/cartesian_ifc reference/problem reference/trajectory reference/sdk .. Indices and tables .. ================== .. * :ref:`genindex` .. * :ref:`modindex` .. * :ref:`search`