Lab4 » Historia » Wersja 8
Wersja 7 (Dawid Seredyński, 2018-06-13 19:02) → Wersja 8/9 (Dawid Seredyński, 2018-06-13 21:52)
h1. Lab 4: Interpolation of motion
h2. Scope:
This laboratory consist of two parts:
* A short introduction.
* Writing your own ROS package.
h2. 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.
* At first, use linear interpolation.
* Next, add more sophisticated method, e.g. trapezoid velocity profile or spline interpolation (please refer to: https://en.wikipedia.org/wiki/Spline_interpolation#Algorithm_to_find_the_interpolating_cubic_spline). You can assume zero velocity at the begining and at the end of motion.
* All interpolation modes should be implemented in one ROS node and can be selected in jint_control_srv.
* Visualize behavior of the system in RVIZ. Visualize the followed trajectory.
!lab4-scheme-a.png! !https://www.robotyka.ia.pw.edu.pl/redmine/attachments/download/180/lab4-scheme-a.png!
* 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.
!lab4-scheme-b.png! !https://www.robotyka.ia.pw.edu.pl/redmine/attachments/download/181/lab4-scheme-b.png!
* 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.
h2. Scope:
This laboratory consist of two parts:
* A short introduction.
* Writing your own ROS package.
h2. 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.
* At first, use linear interpolation.
* Next, add more sophisticated method, e.g. trapezoid velocity profile or spline interpolation (please refer to: https://en.wikipedia.org/wiki/Spline_interpolation#Algorithm_to_find_the_interpolating_cubic_spline). You can assume zero velocity at the begining and at the end of motion.
* All interpolation modes should be implemented in one ROS node and can be selected in jint_control_srv.
* Visualize behavior of the system in RVIZ. Visualize the followed trajectory.
!lab4-scheme-a.png! !https://www.robotyka.ia.pw.edu.pl/redmine/attachments/download/180/lab4-scheme-a.png!
* 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.
!lab4-scheme-b.png! !https://www.robotyka.ia.pw.edu.pl/redmine/attachments/download/181/lab4-scheme-b.png!
* 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.