This is a public release of the software used by the re2uta team in the DARPA VRC. Developed in the context of ros-fuerte. Compatability with any other ros release is unknown.
This assumes you have DRC related packages already installed. If you don't then go here: http://gazebosim.org/wiki/DRC/Install
Then setup the normal ros way with:
From 3 separate terminals, source the setup in each . setup.bash
Then in #1:
roslaunch drcsim_gazebo atlas_sandia_hands.launch
Then in #2:
roslaunch drcsim_gazebo keyboard_teleop.launch r q roslaunch re2uta_atlasCommander atlasCommander_nnCapture.launch
That will start an instance of rviz with interactive markers.
Once it's up and running in #3 command the robot to balance on it's right foot:
rostopic pub /commander/walkto re2uta_atlasCommander/WalkPlan \ "header: seq: 0 stamp: secs: 0 nsecs: 0 frame_id: '' start_swing_foot: 0 goal_poses: - position: x: 0.0 y: 0.0 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.0 w: 1.0"
Now selecting "interact and dragging the robot's left foot around will allow you to move while balancing.