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)
Git branch off of GitHub - uwrobotics/uwrt_mars_rover at user/keyonjerome/#1/arm-control-bringup

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.

  •  

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