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Arm - Create Cartesian Arm Controller

Arm - Create Cartesian Arm Controller

Owned by Chanpakorn Chaiklahan
Last updated: Sept 28, 2022 by Keyon Jerome
1 min read

Due Date: Aug 16, 2022

Contributor Log

Name

Contribution

Name

Contribution

 

 

 

 

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

Read into Aidan Keaveny’s ROS1 repo linked below; find out if it’s feasible to port it from ROS1 directly
If porting Aidan Keaveny’s repo is not feasible, look into FZI Research Center’s package (see documentation links)

Prerequisites

  • Working arm URDF; our current arm URDF is done and useable, but very low fidelity. Consider using sw_urdf_exporter - ROS Wiki to convert the arm’s SolidWorks assembly to a URDF that may make the simulation easier. Not required.

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Progress Journal

  • Example: Aug 16, 2022 @Austin Tailon Huang (Deactivated) (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

 

 

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