<commit_before>ahl_wbc
========
ahl_wbc is a metapackage that contains ROS packages
for whole body control/operational space control/task space control.

What is Whole Body Control ?
============================
If you use this package,
* you don't need inverse kinematics
* you can easily control robots with many joints
* you can add force control with the same framework

Reference : [The operational space framework](http://cs.stanford.edu/group/manips/publications/pdfs/Khatib_1993_JSME.pdf)

Contents
=========
### Packages
* wbc/ahl_robot :
  Implement kinematics including transformation, computation of Jacobian and mass matrix.
* wbc/ahl_robot_controller : Provide joint space control and task space control
* samples/ahl_youbot_description : Contain urdf description of YouBot
* samples/ahl_pr2_description : Contain urdf description of PR2
* samples/ahl_red_arm : Contain sdf description of original red arm

How does it work ?
===================
* Task space control of PR2.                   
[![](http://img.youtube.com/vi/7pHPHKFTwZs/0.jpg)](https://www.youtube.com/watch?v=7pHPHKFTwZs)

* Task space control of mobile manipulator(Kuka YouBot).   
[![](http://img.youtube.com/vi/RHdLje50RXQ/0.jpg)](https://www.youtube.com/watch?v=RHdLje50RXQ)

* Task space control of 7 DOF manipulator.   
[![](http://img.youtube.com/vi/v_i-LgaJ5WM/0.jpg)](https://www.youtube.com/watch?v=v_i-LgaJ5WM)

* Task space control of 11 DOF manipulator.   
[![](http://img.youtube.com/vi/oKqCsFAzx4k/0.jpg)](https://www.youtube.com/watch?v=oKqCsFAzx4k)

Prerequisites
=============
* Ubuntu 14.04 LTS
* ROS Indigo, Jade (Jade is preferable)
* Gazebo 5.0 or later
* ros-control and ros-controllers (for gazebo simulation)

Installation
=============
### Install Ubuntu 14.04 LTS
[Official documentation](http://www.ubuntu.com/download/desktop/install-ubuntu-desktop)

### Install ROS Jade
ROS is an open source middle ware for robot developers.<br>
It serves vast amount of useful features and packages.<br>
If you have enough strage, install ros-jade-desktop-full.<br>
[Official documentation](http://wiki.ros.org/jade/Installation/Ubuntu)

### Create Catkin Workspace
Catkin is a cmake-based build system supported by ROS.<br>
In catkin workspace, we edit codes and build software.<br>
[Official documentation](http://wiki.ros.org/catkin/Tutorials/create_a_workspace)

### Install Gazebo 5.0
Gazebo is a robotic simulator, which provides visualization,
physics and collision avoidance and so on in virtual environment.
```
sudo apt-get install gazebo5
```

### Install ros-control and ros-controllers
In order to fully make use of gazebo with ROS, we need these controllers.
```
sudo apt-get install ros-jade-ros-control ros-jade-ros-controllers
```

### Install ROS Packages for Whole Body Control.
In your catkin_ws/src/ahl_ros_packages, execute the follows.
```
git clone https://github.com/daichi-yoshikawa/ahl_common.git
git clone https://github.com/daichi-yoshikawa/ahl_wbc.git
```<commit_msg>Added links and fixed description a little bit.<commit_after>ahl_wbc
========
ahl_wbc is a metapackage that contains ROS packages
for whole body control/operational space control/task space control.

What is Whole Body Control ?
============================
If you use this package,
* you can easily control robots with many joints (See video clips below!)
* you can add force control with the same framework
* you don't need inverse kinematics

Reference : [The operational space framework](http://cs.stanford.edu/group/manips/publications/pdfs/Khatib_1993_JSME.pdf)

Contents
=========
### Packages
* wbc/ahl_robot :
  Implement kinematics including transformation, computation of Jacobian and mass matrix.
* wbc/ahl_robot_controller : Provide joint space control and task space control
* samples/ahl_youbot_description : Contain urdf description of YouBot
* samples/ahl_pr2_description : Contain urdf description of PR2
* samples/ahl_red_arm : Contain sdf description of original red arm

How does it work ?
===================
* Task space control of PR2.                   
[![](http://img.youtube.com/vi/7pHPHKFTwZs/0.jpg)](https://www.youtube.com/watch?v=7pHPHKFTwZs)

* Task space control of mobile manipulator(Kuka YouBot).   
[![](http://img.youtube.com/vi/RHdLje50RXQ/0.jpg)](https://www.youtube.com/watch?v=RHdLje50RXQ)

* Task space control of 7 DOF manipulator.   
[![](http://img.youtube.com/vi/v_i-LgaJ5WM/0.jpg)](https://www.youtube.com/watch?v=v_i-LgaJ5WM)

* Task space control of 11 DOF manipulator.   
[![](http://img.youtube.com/vi/oKqCsFAzx4k/0.jpg)](https://www.youtube.com/watch?v=oKqCsFAzx4k)

Prerequisites
=============
* [Ubuntu 14.04 LTS](http://www.ubuntu.com/download)
* [ROS Indigo](http://wiki.ros.org/), Jade (Jade is preferable)
* [Gazebo 5.0](http://gazebosim.org/) or later
* [ros-control](http://wiki.ros.org/ros_control) and [ros-controllers](http://wiki.ros.org/ros_controllers) (for gazebo simulation)

Installation
=============
### Install Ubuntu 14.04 LTS
[Official documentation](http://www.ubuntu.com/download/desktop/install-ubuntu-desktop)

### Install ROS Jade
ROS is an open source middle ware for robot developers.<br>
It serves vast amount of useful features and packages.<br>
If you have enough strage, install ros-jade-desktop-full.<br>
[Official documentation](http://wiki.ros.org/jade/Installation/Ubuntu)

### Create Catkin Workspace
Catkin is a cmake-based build system supported by ROS.<br>
In catkin workspace, we edit codes and build software.<br>
[Official documentation](http://wiki.ros.org/catkin/Tutorials/create_a_workspace)

### Install Gazebo 5.0
Gazebo is a robotic simulator, which provides visualization,
physics and collision detection in virtual environment.
```
sudo apt-get install gazebo5
```

### Install ros-control and ros-controllers
In order to fully make use of gazebo with ROS, we need these controllers.
```
sudo apt-get install ros-jade-ros-control ros-jade-ros-controllers
```

### Install ROS Packages for Whole Body Control.
In your catkin_ws/src/ahl_ros_packages, execute the follows.
```
git clone https://github.com/daichi-yoshikawa/ahl_common.git
git clone https://github.com/daichi-yoshikawa/ahl_wbc.git
```
{'fraction_non_alphanumeric': 0.1379922530664945, 'fraction_numerical': 0.011943189154293092, 'mean_word_length': 4.890684410646388, 'pattern_counts': {'":': 0, '<': 13, '<?xml version=': 0, '>': 13, 'https://': 12, 'lorem ipsum': 0, 'www.': 11, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 3, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
{'dir': 'git-commits-cleaned', 'id': '550501', 'n_tokens_mistral': 2119, 'n_tokens_neox': 1924, 'n_words': 564}