velma_core_cs

This package defines and implements control subsystem of Velma core agent.

It provides ROS launch file:

• velma_core_cs.launch - runs the subsystem; arguments:
  • LOG_LEVEL - Orocos log level, for details type deployer --help
  • debug - if true, the deployer is executed in gdb.
  • cset - if true, the deployer is executed on one CPU core, this works only on RT-linux
  • load_robot_description - if true, the launch file loads robot description from urdf and runs robot_state_publisher