This is the controller repo the biRobot teleoperation experiment
All dependencies can be installed using the super build extension
The global configuration file should include those parameters (which can vary if you are using robot_1 or robot_2)
MainRobot:
name: robot_2 #or robot_1
module: JVRC1 # desired robot module
Enabled: BiRobotTeleoperation
Timestep: 0.002
GUIServer:
IPC:
Socket: /tmp/mc_rtc_2
TCP:
# Binding host, * binds to all interfaces
Host: "*"
# Binding ports, the first is used for PUB socket and the second for
# the PULL socket
Ports: [4242, 4343]
Timestep: 0.005
distant_controller:
ip: localhost #host address of the distant controller
sub_port : 4242
pub_port: 4343
human_name: human_2 #or human_1
local_controller:
human_name: human_1 #or human_2
human_sim:
active: true #if true the sensor data are overwritten by an external human controller
ip: localhost #host address of the simulated human controller
sub_port : 4242
pub_port: 4343