Lab2 » Historia » Wersja 8
Dawid Seredyński, 2018-06-13 16:34
1 | 2 | Dawid Seredyński | h1. Lab 2: Modeling and visualization of manipulator |
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3 | 1 | Dawid Seredyński | h2. Scope |
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5 | 7 | Dawid Seredyński | This laboratory consist of three parts: |
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7 | 7 | Dawid Seredyński | * A short introduction. |
8 | 7 | Dawid Seredyński | * Reading and following URDF tutorials: http://wiki.ros.org/urdf/Tutorials |
9 | 7 | Dawid Seredyński | * Writing your own ROS package. |
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11 | 7 | Dawid Seredyński | h2. Detailed description for URDF tutorials: |
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13 | 3 | Dawid Seredyński | * Building a Visual Robot Model with URDF from Scratch |
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15 | 7 | Dawid Seredyński | * For your convenience add your URDF files in *urdf* directory of package *beginners_tutorials*, the one created during the first laboratory. |
16 | 7 | Dawid Seredyński | * In next sections create new URDF files according to roslaunch files. |
17 | 7 | Dawid Seredyński | * The final version of r2d2 has different gripper. |
18 | 1 | Dawid Seredyński | * Building a Movable Robot Model with URDF |
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20 | 7 | Dawid Seredyński | * Continue creating new URDF files. |
21 | 1 | Dawid Seredyński | * Adding Physical and Collision Properties to a URDF Model |
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23 | 7 | Dawid Seredyński | * You can omit this section, as we do not use model of dynamics and friction. |
24 | 1 | Dawid Seredyński | * Using Xacro to Clean Up a URDF File |
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26 | 7 | Dawid Seredyński | * The practical example in this section is not working properly. |
27 | 1 | Dawid Seredyński | * Understanding the PR2 Robot Description |
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29 | 7 | Dawid Seredyński | * You can omit this section. |
30 | 1 | Dawid Seredyński | * Create your own urdf file |
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32 | 7 | Dawid Seredyński | * Create new URDF files. |
33 | 7 | Dawid Seredyński | * ROS Kinetic is newer than ROS Hydro |
34 | 3 | Dawid Seredyński | * Parse a urdf file |
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36 | 7 | Dawid Seredyński | * Copy URDF file from beginners_tutorials package |
37 | 3 | Dawid Seredyński | * Using the robot state publisher on your own robot |
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39 | 7 | Dawid Seredyński | * This section is unclear and can be omited. |
40 | 3 | Dawid Seredyński | * Start using the KDL parser |
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42 | 7 | Dawid Seredyński | * You can omit this section. |
43 | 1 | Dawid Seredyński | * Using urdf with robot_state_publisher |
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45 | 7 | Dawid Seredyński | * This section shows a method to move the model of robot written in URDF file. |
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47 | 5 | Dawid Seredyński | h2. The task: |
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49 | 8 | Dawid Seredyński | * Create a new package in your repository created in the previous laboratory. |
50 | 8 | Dawid Seredyński | * Create a program (can be a ROS node) that calculates rotation parameters (RPY or quaternion), compatible with URDF format, from DH parameters. |
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52 | 8 | Dawid Seredyński | * You may find KDL documentation useful: http://wiki.ros.org/kdl |
53 | 8 | Dawid Seredyński | * Create URDF file for a robot with given parameters expressed in Denavit-Hartenberg notation |
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55 | 8 | Dawid Seredyński | * You can create base for the robot with arbitrarily chosen height. |
56 | 8 | Dawid Seredyński | * Add a tool with no internal degrees of freedom |
57 | 8 | Dawid Seredyński | * Parameters (e.g. length of a link) should be read from ROS parameter server |
58 | 8 | Dawid Seredyński | * At first, treat all joints as fixed. |
59 | 8 | Dawid Seredyński | * Create a roslaunch file and visualize the robot in RVIZ using robot_state_publisher. |
60 | 1 | Dawid Seredyński | !https://www.robotyka.ia.pw.edu.pl/redmine/attachments/download/175/lab2-scheme-a.png(schemat a węzłów ROS ANRO laboratorium 2)! |
61 | 8 | Dawid Seredyński | * Create second URDF file with moveable joints |
62 | 8 | Dawid Seredyński | * Create second roslaunch file that runs joint_state_publisher to move joints. |
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64 | 8 | Dawid Seredyński | * Both roslaunch files should be executed in separate terminals. The first one runs RVIZ as long as the URDF file is unchanged. The second runs the rest of the system. |
65 | 6 | Dawid Seredyński | !https://www.robotyka.ia.pw.edu.pl/redmine/attachments/download/176/lab2-scheme-b.png(schemat b węzłów ROS ANRO laboratorium 2)! |
66 | 8 | Dawid Seredyński | * Commit and push your work to GitHub. |
67 | 3 | Dawid Seredyński | * W ramach repozytorium na serwerze GitHub z własnym pakietem dodajemy wiki z opisem plików źródłowych, instrukcją jak uruchomić system opisany w pliku roslaunch oraz przebiegiem testów. |
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69 | 6 | Dawid Seredyński | * Dodatkowo tradycyjnie schemat i opis struktury systemu wraz z użytymi mechanizmami komunikacji oraz schemat struktury manipulatora zawartej w plikach URDF. |
70 | 6 | Dawid Seredyński | * Dokumentację uzupełniamy opisem testów. Właściwe jest użycie m.in. narzędzi takich jak rqt_plot do utworzenia wykresów przebiegów zmiennych na kanałach komunikacyjnych np. JointState, czy też tf. |
71 | 1 | Dawid Seredyński | * Testujemy system i przedstawiamy prowadzącemu do oceny |