This project is a superbuild project accompanying the paper Explicit safety and compliance on torque controlled robots for physical interaction submitted to RA-L.
It will build all dependencies and the mc_rtc control framework, allowing to run the controller used for this paper's experiments.
- CMake >= 3.20
- Git
- Visual Studio 2019 and later (Windows)
You can fullfill the requirements above by invoking our bootstraping script:
- on Debian like distributions:
./utils/bootstrap-linux.sh - on macOS:
./utils/bootstrap-macos.sh
git clone https://github.com/mathieu-celerier/mc-kinova-sim-superbuild mc-rtc-superbuild
# Run the bootstrap script in mc-rtc-superbuild/utils folder if required
cmake -S mc-rtc-superbuild -B mc-rtc-superbuild/build -DSOURCE_DESTINATION=${HOME}/devel/src -DBUILD_DESTINATION=${HOME}/devel/build
cd mc-rtc-superbuild/build
cmake --build . --config RelWithDebInfo --target clone
cd ${HOME}/devel/src
git remote add EXP https://github.com/mathieu-celerier/mc_rtc.git
git checkout EXP/topic/external-forces
cd ${HOME}/devel/build
cmake . -DBUILD_TESTING=off
# Go back to mc-rtc-superbuild clone location
cd mc-rtc-superbuild
cmake --build . --config RelWithDebInfo