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README.md

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ANRO

the main package is my_robot
the robot is generated from dh parameters, stored in param directory

launching:

  • Simple, movable model, forward kinematics:
roslaunch my_robot movable.launch
  • Robot movement interpolation:
roslaunch my_robot jint.launch

and then:

rosservice call /jint_control_srv "mode: 0
time: 10.0
pos:
- 5.0
- -0.5
- 0.3"

for third-degree function interpolation change the mode to 1

  • Movement interpolation:
roslaunch my_robot oint.launch

and then:

rosservice call /oint_control_srv "mode: 0
time: 10.0
pos:
- 5.0
- 2.0
- 1.0"

for third-degree function interpolation change the mode to 1

for demonstration run:

roslaunch my_robot ointSquare.launch

or:

roslaunch my_robot ointEllipse.launch
  • Inverse kinematics:
roslaunch my_robot ikinEllipse.launch

or:

roslaunch my_robot ikinSquare.launch