remove the msgs from git

README.md

@@ -1,162 +1,9 @@
-[![pre-commit.ci status](https://results.pre-commit.ci/badge/github/loco-3d/linear-feedback-controller/main.svg)](https://results.pre-commit.ci/latest/github/loco-3d/linear-feedback-controller/main)
+## linear_feedback_controller
 
-# linear feedback controller
+ros controller based on the pal_base_ros_controller package.
 
-This repository contains two packages:
-- the [linear_feedback_controller](./linear_feedback_controller/README.md)
-- the [linear_feedback_controller_msgs](./linear_feedback_controller_msgs/README.md)
+### Test
 
-These two package are under the license [BSD-2 license](./LICENSE).
-
-The current versions of this 2 package can be found in their respective `package.xml` file.
-
-Follows a quick description of these package.
-
-## The linear_feedback_controller
-
-In this package we implement a [roscontrol](http://wiki.ros.org/ros_control)
-controller. It is based on the [pal_base_ros_controller](https://gitlab.com/pal-robotics/LAAS/pal_base_ros_controller_tutorials)
-package.
-
-We implement a RosTopic publisher that sends the state of the robot:
-- base configuration
-- base velocity
-- joint positions
-- joint velocities
-- joint efforts (torques applied to the joints)
-
-We then subscribe to a RosTopic that sends us controls for the robot:
-- A feedback gain matrix
-- A feedforward term in torque
-- The state which was used to linearize the control.
-
-This allows us, for example,to use it on the Talos (1 and 3) robots with a remote controller
-using a whole body model predictive control based on [croccodyl](/~https://github.com/loco-3d/crocoddyl)
-
-Please check the [README.md](./linear_feedback_controller/README.md) of the package for more details.
-
-## The linear_feedback_controller_msgs
-
-This package contains the external user interface to the linear_feedback_controller
-package. It describes the sensor data exchanged in the previously cited RosTopics.
-
-And in particular it offers a very simple ROS/[Eigen](https://eigen.tuxfamily.org/index.php?title=Main_Page)
-conversion. This is made to facilitate further computations with the Sensor
-data. And ease to fill in the Control message.
-
-Please check the [README.md](./linear_feedback_controller_msgs/README.md) of the package for more details.
-
-## Example of usage
-
-### Requirements
-
-For this example you need to have access to the dockers in https://gitlab.laas.fr/gsaurel/docker-pal/.
-This is a private repository so one need to be part of the LAAS-CNRS french laboratory.
-Further development will provide a new public image in order to use this code in simulation.
-
-### Build the repository using ROS and docker.
-
-First of all build or pull the docker from https://gitlab.laas.fr/gsaurel/docker-pal/
-using the branch `gsaurel`.
-
-```
-docker pull gitlab.laas.fr:4567/gsaurel/docker-pal:gsaurel
-```
-
-Then run the docker and mount (`-v` docker option) the `src` and `build` folder
-of your workspace in order to get some cache between to run of the container:
-
-```
-	chown -R :gepetto $(YOUR_WS)  # you might need sudo if you get errors here
-	chmod -R g+rwX  $(YOUR_WS)    # you might need sudo if you get errors here
-	xhost +local:
-	docker run --rm -v $(YOUR_WS)/src:/ws/src -v $(PWD)/Makefile:/ws/Makefile -v /home/$(USER)/devel:/home/user/devel -v $(YOUR_WS)/build:/ws/build --gpus all --net host -e DISPLAY -it gitlab.laas.fr:4567/gsaurel/docker-pal:gsaurel
-```
-
-If you need another terminal to connect to the last docker container ran you can use:
-```
-docker exec --workdir=/ws -u user -it `docker ps --latest --quiet` bash
-```
-
-Once connected to docker with multiple terminal (5) please run in order:
-
-- Terminal 1: Start the simulation:
-```
-reset && catkin build linear_feedback_controller && source install/setup.bash && roslaunch talos_pal_physics_simulator talos_pal_physics_simulator_with_actuators.launch robot:=full_v2
-```
-
-- Terminal 2: Spawn the default controller:
-```
-reset && source install/setup.bash && roslaunch talos_controller_configuration default_controllers.launch
-```
-in the same terminal, once the robot is in the default pose, kill (`ctrl+C`) the roslaunch
-
-- Terminal 3: Spawn the linear feedback controller:
-```
-reset && source install/setup.bash && roslaunch linear_feedback_controller talos_linear_feedback_controller.launch simulation:=true default_params:=true
-```
-
-- Terminal 4: For recording logs you can use `rosbag`:
-```
-reset && source install/setup.bash && rosbag record -o src/lfc /linear_feedback_controller/sensor_state /linear_feedback_controller/desired_control
-```
-
-- Terminal 5: For starting a very simple PD controller via Feedback gains run:
-```
-reset && source install/setup.bash && rosrun linear_feedback_controller pd_controller
-```
-
-The next paragraph is the same procedure except one can use the Makefile that is
-in the root of this repos to do so.
-
-### Build the repository using make
-
-There is also [Makefile](Makefile) to ease the usage of docker and ROS instructions
-in order to execute the demo.
-
-- Create the workspace and clone the repository
-```
-mkdir -p ~/devel/workspace/src
-cd ~/devel/workspace/src
-git clone --recursive git@github.com:loco-3d/linear-feedback-controller.git
-```
-
-- Run the docker and build in terminal(1)
-```
-cd ~/devel/workspace/src/linear_feedback_controller
-make docker_pull_and_run
-make build
-```
-
-- Run the simulation, terminal(1)
-```
-make simu
-```
-
-- Run the default controller and kill it when the robot is in half-sitting terminal(2)
-```
-make default_ctrl
-```
-
-- Run the linear feedback controller terminal (2)
-```
-make lf_ctrl
-```
-
-- Run the PD controller using the lfc terminal (3)
-```
-make pd_ctrl
-```
-
-### Copyrights and License
-
-See the BSD-2 LICENSE file.
-For the main authors see the github repository for the main recent contributors.
-
-Here is the list of the historical main authors:
-- Côme Perrot
-- Maximilien Naveau
-
-Main maintainers
-- Guilhem Saurel (gsaurel@laas.fr)
-- Maximilien Naveau (maximilien.naveau@gmail.com)
+- start docker
+- `catkin config -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTING=ON -DCATKIN_ENABLE_TESTING=ON --install`
+- `reset && catkin build linear_feedback_controller && catkin run_tests --verbose linear_feedback_controller`

doc/README.md

@@ -0,0 +1,162 @@
+[![pre-commit.ci status](https://results.pre-commit.ci/badge/github/loco-3d/linear-feedback-controller/main.svg)](https://results.pre-commit.ci/latest/github/loco-3d/linear-feedback-controller/main)
+
+# linear feedback controller
+
+This repository contains two packages:
+- the [linear_feedback_controller](./linear_feedback_controller/README.md)
+- the [linear_feedback_controller_msgs](./linear_feedback_controller_msgs/README.md)
+
+These two package are under the license [BSD-2 license](./LICENSE).
+
+The current versions of this 2 package can be found in their respective `package.xml` file.
+
+Follows a quick description of these package.
+
+## The linear_feedback_controller
+
+In this package we implement a [roscontrol](http://wiki.ros.org/ros_control)
+controller. It is based on the [pal_base_ros_controller](https://gitlab.com/pal-robotics/LAAS/pal_base_ros_controller_tutorials)
+package.
+
+We implement a RosTopic publisher that sends the state of the robot:
+- base configuration
+- base velocity
+- joint positions
+- joint velocities
+- joint efforts (torques applied to the joints)
+
+We then subscribe to a RosTopic that sends us controls for the robot:
+- A feedback gain matrix
+- A feedforward term in torque
+- The state which was used to linearize the control.
+
+This allows us, for example,to use it on the Talos (1 and 3) robots with a remote controller
+using a whole body model predictive control based on [croccodyl](/~https://github.com/loco-3d/crocoddyl)
+
+Please check the [README.md](./linear_feedback_controller/README.md) of the package for more details.
+
+## The linear_feedback_controller_msgs
+
+This package contains the external user interface to the linear_feedback_controller
+package. It describes the sensor data exchanged in the previously cited RosTopics.
+
+And in particular it offers a very simple ROS/[Eigen](https://eigen.tuxfamily.org/index.php?title=Main_Page)
+conversion. This is made to facilitate further computations with the Sensor
+data. And ease to fill in the Control message.
+
+Please check the [README.md](./linear_feedback_controller_msgs/README.md) of the package for more details.
+
+## Example of usage
+
+### Requirements
+
+For this example you need to have access to the dockers in https://gitlab.laas.fr/gsaurel/docker-pal/.
+This is a private repository so one need to be part of the LAAS-CNRS french laboratory.
+Further development will provide a new public image in order to use this code in simulation.
+
+### Build the repository using ROS and docker.
+
+First of all build or pull the docker from https://gitlab.laas.fr/gsaurel/docker-pal/
+using the branch `gsaurel`.
+
+```
+docker pull gitlab.laas.fr:4567/gsaurel/docker-pal:gsaurel
+```
+
+Then run the docker and mount (`-v` docker option) the `src` and `build` folder
+of your workspace in order to get some cache between to run of the container:
+
+```
+	chown -R :gepetto $(YOUR_WS)  # you might need sudo if you get errors here
+	chmod -R g+rwX  $(YOUR_WS)    # you might need sudo if you get errors here
+	xhost +local:
+	docker run --rm -v $(YOUR_WS)/src:/ws/src -v $(PWD)/Makefile:/ws/Makefile -v /home/$(USER)/devel:/home/user/devel -v $(YOUR_WS)/build:/ws/build --gpus all --net host -e DISPLAY -it gitlab.laas.fr:4567/gsaurel/docker-pal:gsaurel
+```
+
+If you need another terminal to connect to the last docker container ran you can use:
+```
+docker exec --workdir=/ws -u user -it `docker ps --latest --quiet` bash
+```
+
+Once connected to docker with multiple terminal (5) please run in order:
+
+- Terminal 1: Start the simulation:
+```
+reset && catkin build linear_feedback_controller && source install/setup.bash && roslaunch talos_pal_physics_simulator talos_pal_physics_simulator_with_actuators.launch robot:=full_v2
+```
+
+- Terminal 2: Spawn the default controller:
+```
+reset && source install/setup.bash && roslaunch talos_controller_configuration default_controllers.launch
+```
+in the same terminal, once the robot is in the default pose, kill (`ctrl+C`) the roslaunch
+
+- Terminal 3: Spawn the linear feedback controller:
+```
+reset && source install/setup.bash && roslaunch linear_feedback_controller talos_linear_feedback_controller.launch simulation:=true default_params:=true
+```
+
+- Terminal 4: For recording logs you can use `rosbag`:
+```
+reset && source install/setup.bash && rosbag record -o src/lfc /linear_feedback_controller/sensor_state /linear_feedback_controller/desired_control
+```
+
+- Terminal 5: For starting a very simple PD controller via Feedback gains run:
+```
+reset && source install/setup.bash && rosrun linear_feedback_controller pd_controller
+```
+
+The next paragraph is the same procedure except one can use the Makefile that is
+in the root of this repos to do so.
+
+### Build the repository using make
+
+There is also [Makefile](Makefile) to ease the usage of docker and ROS instructions
+in order to execute the demo.
+
+- Create the workspace and clone the repository
+```
+mkdir -p ~/devel/workspace/src
+cd ~/devel/workspace/src
+git clone --recursive git@github.com:loco-3d/linear-feedback-controller.git
+```
+
+- Run the docker and build in terminal(1)
+```
+cd ~/devel/workspace/src/linear_feedback_controller
+make docker_pull_and_run
+make build
+```
+
+- Run the simulation, terminal(1)
+```
+make simu
+```
+
+- Run the default controller and kill it when the robot is in half-sitting terminal(2)
+```
+make default_ctrl
+```
+
+- Run the linear feedback controller terminal (2)
+```
+make lf_ctrl
+```
+
+- Run the PD controller using the lfc terminal (3)
+```
+make pd_ctrl
+```
+
+### Copyrights and License
+
+See the BSD-2 LICENSE file.
+For the main authors see the github repository for the main recent contributors.
+
+Here is the list of the historical main authors:
+- Côme Perrot
+- Maximilien Naveau
+
+Main maintainers
+- Guilhem Saurel (gsaurel@laas.fr)
+- Maximilien Naveau (maximilien.naveau@gmail.com)