Project-2

please use catkin_scara.zip package to build on your PC. catkin_make Start the controllers using roslaunch

Test the Scara controlled by ros_control by running the following:

Start the scara simulation:

roslaunch scara_gazebo scara_world.launch

Load the controllers for the three joints by running the second launch file:

roslaunch scara_control scara_control.launch

Using service calls manually

If you first load the scara_control.yaml files to the parameter server, you could load the controllers manually through service requests. We'll include them here for reference though we usually prefer roslaunch:

Load the controllers:

rosservice call /scara/controller_manager/load_controller "name: 'joint1_position_controller'" rosservice call /scara/controller_manager/load_controller "name: 'joint2_position_controller'"

Start the controllers:

rosservice call /scara/controller_manager/switch_controller "{start_controllers: ['joint1_position_controller','joint2_position_controller'], stop_controllers: [], strictness: 2}"

Stop the controllers:

rosservice call /scara/controller_manager/switch_controller "{start_controllers: [], stop_controllers: ['joint1_position_controller','joint2_position_controller'], strictness: 2}"

Followed the gazebo tutorials added motor plugins for 3 joints in scara.xacro added gazebo pluggins in launch file and added joint3

rostopic pub -1 /scara/joint1_position_controller/command std_msgs/Float64 "data: 1.5"

rostopic pub -1 /scara/joint2_position_controller/command std_msgs/Float64 "data: 1.5"

rostopic pub -1 /scara/joint3_position_controller/command std_msgs/Float64 "data: 1.0"

Manipulator_project_RBE

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Project-1

if you want to run in your pc

take 'gazebo_ros_demo' folder in to your src

catkin_make

launch file

roslaunch rrbot_gazebo world.launch

Test FK

rosrun rrbot_control fk.py

Output of fk

rostopic echo /arm_pose

Test IK

rosrun rrbot_control ik.py

Output for ik

rosservice call /inver_server

Make sure you do

source devel/setup.bash

python files as executing files(right click the file and go to permission and allow it as executing file)