Description

Assignments for advanced robotics module in University of Birmingham (forward kinematics & inverse kinematics)

Requirements

• ROS Noetic or later
• Ubuntu 20.04 or later
• Panda simulator package panda_simulator.

Installation:

1. Create a new workspace:

mkdir -p ~/uob_ar_assignment/src
cd ~/uob_ar_assignment/src
catkin_init_workspace

2. Clone the package into the workspace:

git clone https://github.com/HyPAIR/Advanced-Robotics-Assignment.git

3. Build the workspace:

cd ~/uob_ar_assignment
catkin_make_isolated
source devel_isolated/setup.bash

Usage

Test forward kinematics

Launch the node to visualize Franka Emika:

cd ~/uob_ar_assignment
source devel_isolated/setup.bash
roslaunch advance_robotics_assignment assignment1_fk.launch 

Open a new terminal and run the following file to visualize the results of your forward kinematics calculations.

source devel_isolated/setup.bash
cd uob_ar_assignment/src/Advanced-Robotics-Assignment/advance_robotics_assignment/assignment/assignment1_FK
python3 forward_kinematics.py 

Test inverse kinematics

Launch the node to visualize Franka Emika:

cd ~/uob_ar_assignment
source devel_isolated/setup.bash
roslaunch advance_robotics_assignment assignment2_lk.launch 

Open a new terminal and run the following file to visualize the results of your inverse kinematics solution.

source devel_isolated/setup.bash
cd uob_ar_assignment/src/Advanced-Robotics-Assignment/advance_robotics_assignment/assignment/assignment2_IK
python3 inverse_kinematics.py