rihat99 / robt403_lab5

robt403_lab5

Source code for the laboratory session 5 of the ROBT403 course

This code has been tested on ROS Melodic

Install dependicies

1. git clone https://github.com/arebgun/dynamixel_motor
2. git clone https://github.com/KNurlanZ/snake-noetic.git

Compile

1. source /opt/ros/melodic/setup.bash
2. source ~/CATKIN_WORKSPACE/devel/setup.bash
3. catkin_make

Run

1. roslaunch snake_moveit_config moveit_gazebo.launch
2. roslaunch snake_moveit_config moveit_planing_execution.launch
3. rosrun snake_move step

Save data

1. rosbag record /joint_states /end_joint_x /end_joint_y
2. rostopic echo -b 2022-10-09-19-41-37.bag -p /joint_states > data_joint_states.csv
3. rostopic echo -b 2022-10-09-19-41-37.bag -p /end_joint_x > data_end_x.csv
4. rostopic echo -b 2022-10-09-19-41-37.bag -p /end_joint_y > data_end_y.csv

Visualize data

Run plot.m Matlab file