Arm - Create Cartesian Arm Controller
Due Date: Aug 16, 2022
Contributor Log
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Skills
ros2_control
Inverse Kinematics
URDF
Gazebo
Task Description
Create cartesian control package for arm controller; taking the arm’s ros2_control published values and transforming them using inverse kinematics to X,Y,Z co-ordinates such that we can send/publish desired X,Y,Z co-ordinates to the arm for it to move to via a ROS2 action.
Task Breakdown
Prerequisites
Working arm URDF; our current arm URDF is done and useable, but very low fidelity. Consider using http://wiki.ros.org/sw_urdf_exporter to convert the arm’s SolidWorks assembly to a URDF that may make the simulation easier. Not required.
Progress Journal
Example: Aug 16, 2022 @Austin Tailon Huang (date and name)
brief update on what's done and what are the next steps, photos and images and videos are preferred
September 28, 2022 @Keyon Jerome
Added documentation links and updated task
Relevant Documentation Links
Aidan Keaveny (masters student who did some work for us for his thesis)'s ROS1 cartesian arm controller; this should be your main starting point: https://github.com/akeaveny/uwrt-arm-cartesian-controller
ROS2/ROS1 control cartesian arm controller written by the FZI Research Center for Information Technology; https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers