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