Installation

This section details the installation procedure for Qontrol.

Warning

Qontrol has only be tested on Ubuntu 20.04 and 22.04. There is no garantee that it will build on other systems.

Installing dependencies

Before installing Qontrol you need to install the following dependencies

• tinyXML2

  sudo apt install libtinyxml2-dev

• Eigen3

  sudo apt install libeigen3-dev

• Pinocchio

  Follow the instructions on https://stack-of-tasks.github.io/pinocchio/download.html.If you use ROS, a simplified installation procedure is proposed in the “ROS” section of this page using apt and the ROS packages:

  sudo apt install ros-$ROS_DISTRO-pinocchio

The examples are built using the mujoco simulator. If mujoco is not installed on your system, a cmake FetchContent will be called to compiled it localy for this project.

Installing Qontrol

1. Clone the git repository

   git clone https://gitlab.inria.fr/auctus-team/components/control/qontrol.git

2. Move to Qontrol, create the build directory and go there

   cd qontrol && mkdir build && cd build

3. Run the cmake command

   cmake ..

4. Build the library

   make -j4

Launch examples

Go to your build folder and run

cd build/examples
./example_name robot_name

where:

• example_name is the name of the example you want to run. The list of all examples can be found in the examples folder.
• robot_name can either be panda or universal_robots_ur5e.

Documented examples can be found here