Basic

• Simple controller
  • Objective
  • Introduction
  • Setup
  • Creating the Controller
  • Adding Tasks
  • Adding Constraints
  • Control Loop
  • Shutting Things Down
  • Conclusion
  • Full Code Listing
• Simulating the controller performance
• Full Code Listing

Intermediate

• An introduction to the ORCA callback system
• Full Code Listing
• Using lambda functions in the callbacks
• Full Code Listing

Gazebo

• Simulating a single robot
• Full Code Listing
• Simulating multiple robots
• Full Code Listing
• Set robot state
• Full Code Listing
• Set robot state with gravity compensation
• Full Code Listing
• Using Gazebo to simulate an ORCA controller
• Full Code Listing
• Minimum jerk Cartesian trajectory following
• Full Code Listing

Plotting

• Using the internal plotting tools
• Full Code Listing