Project in Advanced Robotics course project at SDU 21/22. Implementation of learning method for skills for arm robots based on GMM with Rieamannian Manifolds
To perform the communication between the different ROS nodes for both the simulation environment and the real robot, various topics are defined:
Those involved in the information received from the robot system are:
- Robot joint torque:
/ur/joint_torque - Robot joint position:
/ur/joint_torque - Robot joint velocity:
/ur/joint_velocity
Those involved in the information to be sent to the robot system by the controller are:
- Robot joint position:
/controller/joint_position - Robot joint velocity:
/controller/joint_velocity
To execute the real_robot_interface_py command the following command should be used.
ros2 run real_robot_interface_py interface --ros-args -p dt:=<sampling_time> -p ip:=<robot/ip>