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Lab2 » Historia » Wersja 9

Dawid Seredyński, 2018-06-13 16:41

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h1. Lab 2: Modeling and visualization of manipulator
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h2. Scope
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This laboratory consist of three parts:
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* A short introduction.
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* Reading and following URDF tutorials: http://wiki.ros.org/urdf/Tutorials
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* Writing your own ROS package.
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h2. Detailed description for URDF tutorials:
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* Building a Visual Robot Model with URDF from Scratch
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  * For your convenience add your URDF files in *urdf* directory of package *beginners_tutorials*, the one created during the first laboratory.
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  * In next sections create new URDF files according to roslaunch files.
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  * The final version of r2d2 has different gripper.
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* Building a Movable Robot Model with URDF
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  * Continue creating new URDF files.
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* Adding Physical and Collision Properties to a URDF Model
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  * You can omit this section, as we do not use model of dynamics and friction.
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* Using Xacro to Clean Up a URDF File
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  * The practical example in this section is not working properly.
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* Understanding the PR2 Robot Description
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  * You can omit this section.
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* Create your own urdf file
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  * Create new URDF files.
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  * ROS Kinetic is newer than ROS Hydro
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* Parse a urdf file
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  * Copy URDF file from beginners_tutorials package
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* Using the robot state publisher on your own robot
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  * This section is unclear and can be omited.
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* Start using the KDL parser
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  * You can omit this section.
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* Using urdf with robot_state_publisher
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  * This section shows a method to move the model of robot written in URDF file.
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h2. The task:
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* Create a new package in your repository created in the previous laboratory.
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* 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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  * You may find KDL documentation useful: http://wiki.ros.org/kdl
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* Create URDF file for a robot with given parameters expressed in Denavit-Hartenberg notation
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  * You can create base for the robot with arbitrarily chosen height.
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  * Add a tool with no internal degrees of freedom
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  * Parameters (e.g. length of a link) should be read from ROS parameter server
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* At first, treat all joints as fixed.
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* Create a roslaunch file and visualize the robot in RVIZ using robot_state_publisher.
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    !https://www.robotyka.ia.pw.edu.pl/redmine/attachments/download/175/lab2-scheme-a.png(schemat a węzłów ROS ANRO laboratorium 2)!
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* Create second URDF file with moveable joints
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* Create second roslaunch file that runs joint_state_publisher to move joints.
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  * 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.
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    !https://www.robotyka.ia.pw.edu.pl/redmine/attachments/download/176/lab2-scheme-b.png(schemat b węzłów ROS ANRO laboratorium 2)!
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* Commit and push your work to GitHub.
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* Add wiki page to your repository (the documentation). The page should contain description of source files, instruction for launching and description of tests.
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  * Additionally, upload graph and description of structure of the system with communication mechanisms. Add a graph with structure of the manipulator.
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  * Describe the tests. Use tools such as rqt_plot to plot changes of some variables in ROS topics (e.g. joint state, tf).
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* Test the system and show it to the tutor.