ergocub-rs-pose-streamer

Requirements

• YARP
• iDynTree
• Eigen
• ergocub-software

How to build

git clone https://github.com/ergoCub-HSP/ergocub-rs-pose-streamer
cd ergocub-rs-pose-streamer
mkdir build
cd build
cmake [-DCMAKE_INSTALL_PREFIX=<valid_install_prefix>] ../
make [install]

How to run

ergocub-rs-pose <robot_name> <path_to_ergocub-software>/urdf/ergoCub/robots/<model_name>/model.urdf

The executable will stream a x y z axis_x axis_y axis_z angle vector to the port /ergocub-rs-pose/pose:o.