kinovo_project

This repository is made to control the kinovo kortex in gazebo when end effector twist is given as the input commands

• it uses inverse jacobian (mapping from end effector to the joint space velocity commands) which is built from scratch
• the next part which is currently ongoing is the image based visual servoing
• its open to suggestions

How to run

• the repository for ros_kortex needs to be cloned from their github page website this repository is built over that to facilitate control in gazebo
• clone the package into the src folder of the workspace
• use catkin_make command in the root directory of your worskpace
• rosun kinovo_project keyboard_node.py
• rosrun kinovo_project jacobian_calculation.py

controls

note every command is with respect to end effector frame

• w,s for y direction linear velocity
• a,d for x direction linear velocity
• r,f for z direction linear velocity
• i,k for y direction angular velocity
• j,l for x direction angular velocity
• u,h for z direction angular velocity