Assignment work in KTH course- Introduction to Robotics.
This assignment allowed students to get familiarized with ros environment. The objective was to make a wall follower using Kobuki robot simulation. This was divided into three tasks:
- To make an open loop controller.
- To make a cartesian controller (based on differential drive model) to make the robot go in a straight line
- To add a wall follower on top of cartesian controller to make the robot follow the wall.
Create a catkin workspace
mkdir ~/catkin_ws && mkdir ~/catkin_ws/src
Git clone this repo in src and then:
catkin_make
To execute task 2:
roslaunch ras_lab1_launch lab1_task2.launch
To execute task 3:
roslaunch ras_lab1_launch lab1_task3.launch
In this assignment you will program the inverse kinematic algorithm for a robot, which will move its joints so that it follows a desired path with the end-effector.
It is composed of two parts:
A 3 DOF scara robot, with an inverse kinematic solution that is possible in analytic form. Running instructions:
roslaunch kinematics_assignment scara_launch.launch
A 7 DOF kuka robot, with the inverse kinematic solution to be implemented with iterative algorithms:
roslaunch kinematics_assignment kuka_launch.launch
See this for instructions: https://cisprague.github.io/dubins/#/
In this assignment we learnt about occupancy grid mapping. Running instructions:
Terminal 1: roscore
Terminal 2: rosrun mapping_assignment main.py FILE
where FILE is a rosbag file
Integrating all above ideas to get a complete robotic system which can pick up a cube and transfer it to another location in the room!