wbc_ros - A ROS 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.

drawing

Requirements / Dependencies

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.

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, denni.nosp@m.s.mr.nosp@m.onga@.nosp@m.dfki.nosp@m..de