catkin_ws

Robotics workspace

Setup Instructions on Ubuntu 16.04

1. catkin_make in catkin_ws
2. source devel/setup.bash

Project 1 ROSS Nodes and Topics

Learning how to use nodes to subscribe and publish to topics.

Run Instructions

1. roscore
2. In a new terminal rosrun two_int_talker two_int_talker.py
3. In a new terminal rosrun project1_solution solution.py

Project 2 Transforms

Learning how to create transforms of objects in different coordinate frames.

Run Instructions

1. roscore
2. In a new terminal rosrun rviz rviz
3. In a new terminal rosrun marker_publisher marker_publisher
4. In a new terminal rosrun project2_solution solution.py

Project 3 Forward Kinematics

Learning how to compute coordinate transforms between the world_link to other links using q values and revolute joints.

Run Instructions

1. roscore
2. In a new terminal rosparam set robot_description --textfile kuka_lwr_arm.urdf
3. In the same terminal rosrun robot_sim robot_sim_bringup
4. In a new terminal rosrun robot_mover mover
5. In a new terminal rosrun forward_kinematics solution.py
6. In a new terminal rosrun rviz rviz

Project 4 Cartesian Control

Learn how to compute joint (q) velocity given initial base to end effector transform and desired base to end effector transform.

Run Instructions

1. roscore
2. In a new terminal in home directory rosparam set robot_description --textfile kuka_lwr_arm.urdf
3. In the same terminal rosrun robot_sim robot_sim_bringup
4. In a new terminal rosrun robot_state_publisher robot_state_publisher
5. In a new terminal rosrun cartesian_control marker_control.py
6. In a new terminal rosrun cartesian_control cartesian_control.py
7. In a new termianl rosrun rviz rviz
8. In rviz change Fixed Frame to world link_name
9. In rviz click Add and select RobotModel
10. In rviz click Add and select "InteractiveMarkers"