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Welcome to the drc_hubo wiki! This repository provides a planning, control and user interaction framework for the valve turning event of DRC. It relies on ROS, openrave and the following software components :

• hubo-ach : ach-based communication layer for hubos
• hubo-motion-rt : ach-based controllers that interact with hubo-ach
• hubo_ros_core : ros suite that defines messages, services and actionLibs to control hubos
• drc_common : valve turning robot-agnostic code
• drchubo : kinematic, geometric and dynamic descriptions (urdf and orxml) of hubos
• localization_tools : frontend localization tools using interactive markers and backend tools using ICP
• comps : Constrained Manipulation Planning Suite, an openrave plugin
• RobotSim : robot simulation, planning, and control package from Indiana University

Follow the steps listed in the install and launch scripts to access the full pipeline with a simulated hardware layer in RobotSim:

• Install script
• Launch script