ss24-gazebo-simulation-freddy's People
ss24-gazebo-simulation-freddy's Issues
Creating and importing URDF's for Robile base into Gazebo
As a developer, I want to import the existing robile base's urdf description to the gazebo and verify the simulation.
Create interfaces and topics for middleware to send commands
As a user, i want ros2 interfaces and ros2 topics for sending commands to arms and base of the robot. I want the functionality of velocity, torque commands for the robot's movements.
Create interfaces for joints in Freddy
As a developer, I would like to have interfaces for each joint in Freddy's arms for sending commands.
~ note down the joints
Add Effort controller for Freddy Arms
While Position and velocity controller are working for Freddy's arms, add effort controller to send torque commands to the joints in the arms.
Fix arms being able to clip through robot base
Create Launch files for Simulation of robot's description in Gazebo
As a user, i want ros2 launch files that can be used to run the simulation in gazebo from command line.
Create interfaces for sensors in Freddy
As a user, i want interfaces for each sensor in Freddy to send commands and receive data from sensors.
~ define sensors
Add and tweak world friction values
In the working setup no friction has been defined for the contact between wheels and the ground, and of the wheel joints. To have a realistic simulation, define the friction values for the above mentioned components.
Creating and importing URDF's for Kinowa into Gazebo
As a developer, I want to import the existing Kinowa arm's urdf description to the gazebo and verify the simulation.
Create scripts for simulating basic movement of Freddy in Gazebo
As a user, i want ros2 launch files that can be used to run the simulation of basic movements like moving arms and base in gazebo from command line.
Implement Robile base movement through ROS2 topic using ROS Bridge
Create Documentation for the steps followed and issues faced as FAQ's
As a project maintainer, i want up to date documentation of the robot's simulation and the steps required to get it working for basic movements. I also want a documentation maintained for all the issues faced while developing the solution, for future references of issues.
Document Freddy base (Robile) simulation and command for Gazebo Harmonic
Gather technical specifications and reference materials for the dodecacopter.
Create Software Architecture design for middleware
As a software developer, I want to design a software architecture for middleware in ros2 that provides flexibility to add features in future, should be use best practices like factory design pattern, singleton design pattern.
Update keyboard control script to respect arm initial positions
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