This Github repository provides a base inverted pendulum simulation to be used as-is for the purposes of this assignment
pip install pygamesudo apt-get install python3-catkin-tools- clone the repository
git clone git@github.com:octobotics/Octobotics_Coding_Assignment.git- navigate to the repository directory
cd Octobotics_Coding_Assignment- build the project
catkin build- source the workspace
source devel/setup.bash- launch the simulation using roslaunch
roslaunch inverted_pendulum_sim inverted_pendulum_sim.launch- /inverted_pendulum/current_state (inverted_pendulum_sim/CurrentState) - Publishes the current state of the inverted pendulum at 100 Hz
- /inverted_pendulum/control_force (inverted_pendulum_sim/ControlForce) - Subscribes to the control force input to the inverted pendulum
- /inverted_pendulum/set_params (inverted_pendulum_sim/SetParams - Sets the parameters and initial conditions of the inverted pendulum