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fix broken links #100

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fix broken links #100

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c5541ac
change docs.ros.org to wiki.ros.org
fan-ziqi Apr 17, 2023
1118a6d
fix broken links
fan-ziqi Apr 17, 2023
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12 changes: 6 additions & 6 deletions README.md
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Expand Up @@ -5,7 +5,7 @@
*A light-weight and extensible C++ library for trajectory optimization for legged robots.*

[![Build Status](http://build.ros.org/buildStatus/icon?job=Mdev__towr__ubuntu_bionic_amd64)](http://build.ros.org/view/Mdev/job/Mdev__towr__ubuntu_bionic_amd64/)
[![Documentation](https://img.shields.io/badge/docs-generated-brightgreen.svg)](http://docs.ros.org/kinetic/api/towr/html/)
[![Documentation](https://img.shields.io/badge/docs-generated-brightgreen.svg)](https://docs.ros.org/en/melodic/api/towr/html/)
[![ROS hosting](https://img.shields.io/badge/ROS-integration-blue.svg)](http://wiki.ros.org/towr)
![](https://tokei.rs/b1/github/ethz-adrl/towr?category=code)
[![CodeFactor](https://www.codefactor.io/repository/github/ethz-adrl/towr/badge)](https://www.codefactor.io/repository/github/ethz-adrl/towr)
Expand Down Expand Up @@ -114,13 +114,13 @@ We provide a [ROS]-wrapper for the pure cmake towr library, which adds a keyboar
```
Click in the xterm terminal and hit 'o'.

Information about how to tune the paramters can be found [here](http://docs.ros.org/api/towr/html/group__Parameters.html).
Information about how to tune the paramters can be found [here](https://docs.ros.org/en/melodic/api/towr/html/group__Parameters.html).

## Develop
#### Library overview
* The relevant classes and parameters to build on are collected [modules](http://docs.ros.org/api/towr/html/modules.html).
* A nice graphical overview as UML can be seen [here](http://docs.ros.org/api/towr/html/inherits.html).
* The [doxygen documentation](http://docs.ros.org/api/towr/html/) provides helpful information for developers.
* The relevant classes and parameters to build on are collected [modules](https://docs.ros.org/en/melodic/api/towr/html/modules.html).
* A nice graphical overview as UML can be seen [here](https://docs.ros.org/en/melodic/api/towr/html/inherits.html).
* The [doxygen documentation](https://docs.ros.org/en/melodic/api/towr/) provides helpful information for developers.

#### Problem formulation
* This code formulates the variables, costs and constraints using ifopt, so it makes sense to briefly familiarize with the syntax using [this example].
Expand All @@ -132,7 +132,7 @@ We provide a [ROS]-wrapper for the pure cmake towr library, which adds a keyboar
* This library provides a set of variables, costs and constraints to formulate the trajectory optimization problem. An [example formulation](towr/include/towr/nlp_formulation.h) of how to combine these is given, however, this formulation can probably be improved. To add your own e.g. constraint-set, define a class with it's values and derivatives, and then add it to the formulation ```nlp.AddConstraintSet(your_custom_constraints);``` as shown [here](towr/test/hopper_example.cc).

#### Add your own robot
* Want to add your own robot to towr? Start [here](http://docs.ros.org/en/melodic/api/towr/html/group__Robots.html).
* Want to add your own robot to towr? Start [here](https://docs.ros.org/en/melodic/api/towr/html/group__Robots.html).
* To visualize that robot in rviz, see [xpp].

## Contribute
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