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Dawid Seredyński, 2018-06-13 21:52


Lab 4: Interpolation of motion

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.
  • Create ROS node jint that interpolates trajectory in configuration space.
    • The node uses ROS service (Remote Procedure Call - RPC) of type jint_control_srv. You should create this service type.
      • The node jint gets desired joint position and other required parameters (e.g. duration) as input.
      • The node answers interpolation status that can be sent after the interpolation is complete or immediately, if there are errors in the input parameters (e.g. zero or negative duration).
    • The RPC can be executed directly from terminal or by a dedicated node jcmd.
    • After reception of valid command, the node jint publishes interpolated positions on ROS topic and sends it to robot_state_publiher node.
    • Visualize behavior of the system in RVIZ. Visualize the followed trajectory.
  • Create a similar ROS node oint, that generates interpolation of a reference frame in Cartesian space.
    • In this task the frame is not related to the robot nor to its end effector.
    • Use pose marker in RVIZ and set its shape as axes.
    • The message sent to RVIZ is of type PoseStamped from geometry_msgs package.
    • At first, interpolate position only and keep orientation constant.
    • Next, interpolate orientation.
    • The command for node oint is sent through ROS service of type oint_control_srv from terminal or from a dedicated node ocmd.
    • Visualize behavior of the system in RVIZ. Draw the trajectory of the frame.
  • Add wiki page to your repository (the documentation). The page should contain description of source files, instruction for launching and description of tests.
    • On all graphs of structure of the system topics and services should be shown differently.
    • The plots of variables from topics should contain outputs of interpolators. The outputs should be continous.
  • 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.

lab4-scheme-a.png (9,39 KB) Dawid Seredyński, 2018-06-13 21:51

lab4-scheme-b.png (8,45 KB) Dawid Seredyński, 2018-06-13 21:51