This repository illustrates the use of Croccodyl and pinocchio on a mobile base, here a PAL Tiago robot. The version considered here is a differential mobile base equipped with a torso and a seven DoFs arm.
gep_tiago_control_stack is based on the Tiago harmonic project developed by Juan Carlos Manzanares Serrano, Francisco Martín Rico, and Juan Sebastían Cely Gutiérrez. We are very thankful to them for providing this open source simulation based on Gazebo Harmonic.
gep_tiago_control_stack is also using heavily ros2_control, and we also thanks the ros2_control community for their effort.
This software is distributed under the terms of both the MIT license and the Apache License (Version 2.0).
See LICENSE-APACHE and LICENSE-MIT for details.
Clément Pène
Défi-Clef Robotique Centrée sur l'humain