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Dawid Seredyński, 2018-06-13 21:52
Lab 3: Forward kinematics¶
Scope:¶
This laboratory consist of two parts:
- A short introduction.
- Writing your own ROS package.
The task:¶
- Develop the system from the previous laboratory by either copying the package or modyfying it.
- Using C++ or Python create a ROS node NONKDL_DKIN that calculates forward kinematics of manipulator using analytical method (without KDL).
- The node gets current position of joints from joint_state_publisher node.
- The result (i.e. position of end effector of type geometry_msgs/PoseStamped) should be published on ROS topic and visualized in RVIZ.
- Do not interpolate movement.
- Please refer to RVIZ documentation http://wiki.ros.org/rviz/Tutorials
- Read parameters (e.g. lengths of links) from ROS parameter server.
- Create a second node KDL_DKIN that uses KDL, with the same functionality as NONKDL_DKIN.
- Connect it to existing nodes in place of NONKDL_DKIN.
- Connect it to existing nodes in place of NONKDL_DKIN.
- Test the results in RVIZ. Compare nodes NONKDL_DKIN and KDL_DKIN with data from robot_state_publisher.
- Check if the calculated pose is the same as the pose calculated by robot_state_publisher. Compare the poses in RVIZ.
- All three nodes that calculate forward kinematics should publish to different topics.
- Reference frames of the end effector should coincide. Set different visualization parameters (e.g. width, length of arrows) to see them all.
- The documentation of tests should be supplemented with plots of end effector position calculated using different methods and plots of configuration space position.
- Joint limist should be taken into account.
- If joint position is outside limits, the pose of end effector should not be published and error should be published to ROS log.
- Add wiki page to your repository (the documentation). The page should contain description of source files, instruction for launching and description of tests.
- Use separate roslaunch files for:
- roscore and RVIZ (it should be running until URDF file is modified).
- The rest of the system.
- Test the system and show it to the tutor.