This file is supposed to work along with the spiri simulation, found at https://git.spirirobotics.com/cesar.alejandro/oscillation_ctrl/src/branch/master. Make sure you have this installed and working first.

To set up the circle simulation, add the files from oscillation_ctrl_with_circle/launch to your oscillation_ctrl/launch folder, and the files from oscillation_ctrl_with_circle/src to your oscillation_ctrl/src folder.

Once you have copied the files into the correct folders, cd into your catkin_ws, and run catkin build. Once that is done, you are ready to run the circle simulation using roslaunch oscillation_ctrl oscillation_damp_circle.launch. Similar to oscillation_damp.launch, there is a model variable that you can add to your launch command, with options for spiri, spiri_with_tether, and headless_spiri_with_tether.