Description

Assignments for robotics motion planning and control module in the University of Birmingham (forward kinematics & inverse kinematics)

Local Machine Installation

1. Install ROS 2 Development environment Install the Development Tools package:

   sudo apt install ros-dev-tools ros-humble-ros2-control ros-humble-ros2-controllers ros-humble-ament-cmake

   Installing the Desktop or Bare Bones should automatically source the ROS 2 environment but, under some circumstances you may need to do this again:

   source /opt/ros/humble/setup.sh

2. Create a ROS 2 Workspace:

   mkdir -p ~/assignment1/src
   cd ~/assignment1  # not into src

3. Clone the Repositories:

    git clone https://github.com/HyPAIR/RMPC_Assignment1.git src

4. Install the dependencies

   vcs import src < src/franka.repos --recursive --skip-existing

5. Detect and install project dependencies

   rosdep install --from-paths src --ignore-src --rosdistro humble -y

6. Build

   # use the --symlinks option to reduce disk usage, and facilitate development.
   colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=OFF --executor sequential

7. Adjust Enviroment

   # Adjust environment to recognize packages and dependencies in your newly built ROS 2 workspace.
   source install/setup.sh

Joint Position Controller with Gazebo

To visualize the arm and run the joint position controller, you can run with the following command.

ros2 launch franka_gazebo_bringup gazebo_joint_position_controller_example.launch.py load_gripper:=true franka_hand:='franka_hand'

Forward Kinematics

To test your forward kinmatics solution, you can run with the following command.

cd ~/assignment1/src/assignment
python3 forword_kinematics.py

Inverse Kinematics

To test your inverse kinmatics solution, you can run with the following command.

cd ~/assignment1/src/assignment
python3 inverse_kinematics.py