TGiles / vigir_footstep_planning_core

Local fork (with changes) of https://github.com/team-vigir/vigir_footstep_planning_core

Reference for this readme [http://wiki.ros.org/vigir_footstep_planning]

1. Getting Started

• Make sure you have run the install_vigir_footstep script from the vigir_footstep_install repository on GitHub under my profile.
• Make sure you have built the workspace after wstool does its merge magic.

2. Running the ViGIR footstep planner

• The default demo can be launched by:

roslaunch vigir_footstep_planner footstep_planner_test.launch

• The NAO demo can be launched by:

roslaunch vigir_footstep_planner footstep_planner_test_nao.launch

All generated step plans are published on vigir_footstep_planning/step_plan

3. Visualizing the footstep planning

• A fully pre-configured RViz environment is started by:

roslaunch vigir_footstep_planning rviz_footstep_planning.launch

• You can place a start pose and goal pose to trigger planning.