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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 for hubo that define messages and services to control hubos
• drc_common : valve turning robot-agnostic code
• drchubo : kinematic descriptions (urdf and orxml) of the robots
• localization_tools :
• RobotSim : robot simulation, planning, and control package from Indiana University
• comps-code

Follow these steps to install and launch the full pipeline with the simulated hardware in RobotSim:

• Script to install.
• Script to launch simulation.