CartesIO is a Cartesian Control Framework with focus on online control of multi-chained, hyper-redundant floating-base robots. The software archicteture is mainly built on ROS instruction, providing a robot and task description with URDF/SRDF and YAML files. The CartesioTests Repository basically constitutes a Cartesio Wrapper of the C++ Examples of the Cartesio's Documentation. Here, you can directly execute it and you can modify it just tuning some input parameters. Here, you can find three main sub packages

• CartesioTestsQuickStart
• CartesioTestsROSClient
• CartesioTestsCpp

where each one implements C++ Examples of Cartesio's Documentation plus Launch file Example. Download the Repo to have all the examples ready to use!

• ➤ CartesioTests
• ➤ Table of Contents
• ➤ Installation
• ➤ Execution
• ➤ Dependences

To Install CartesioTests run

git clone https://github.com/lia2790/CartesioTests.git

inside the src folder of a catkin' workspace and that is it.

To Execute the examples in the packages, run

• CartesioTestsCpp

roslaunch cartesio_tests_cpp CartesioTestsCpp.launch

• CartesioTestsQuickStart

roslaunch cartesio_tests_quickstart CartesioTestsQuickStart.launch

• CartesioTestsROSClient

roslaunch cartesio_tests_rosclient CartesioTestsROSClient.launch

respectively!

CartesioTests requires the following dependences:

• Eigen3: to handle with basic algebra;
• CartesIO: to handle robot tasks;
• XBOT2: to handle robot low level control;