AuSRoS Control Lectorial 3

In this lectorial, we will be going through some examples that make use of several open-source robotics packages.

To begin, clone this repository (This will need to be changed when taking it to the AUSROS repo)

git clone https://github.com/dazzmo/ausros_demo
cd ausros_demo

For convenience, we will be using Anaconda to manage and collect the necessary packages and install them in a container, so that we can run them in an environment.

Installing Anaconda

Anaconda allows us to create an environment where all our necessary packages are located and accessible. If you do not have anaconda on your machine, you can install it by following the information here.

Setting Up the Environment

After installing anaconda, move to the directory containing the env.yaml file and run the following command

conda env create -f env.yaml

This will create a new environment called ausros_control that contains all the necessary Python packages for this lectorial, such as the rigid-body dynamics library Pinoccchio, automatic differentiation library Casadi and model visualiser Meshcat.

Within a terminal, to switch to the newly created environment, run the command

conda activate ausros_control

Starting Jupyter Notebook

If you would like to run our Jupyter notebook in a lab instance, you can start it by running

jupyter-lab