Make a Turtlebot3 follow a figure 8 trajectory and create a robot arm and make it follow a trajectory

Part 1:
Makes the robot move in a figure 8 shape. The robot starts moving when launched on a real turtlebot3 and can be paused and resumed.

Part 2:
Defines a two arm robot with an end effector. When launched the robot arm moves in a trajectory and also shows markers at the end effector in rviz

Part 1:

There are two modes for this robot. To launch the sim version, one can run roslaunch homework2 figure_eight.launch mode:=sim.

The math tat defines the figure 8 trajectory can be seen in the file in src/homework2

Below are the expected results:


To make the real turtlebot3 move, run roscore on your computer and ssh into the turtlebot3. Set ROS_MASTER_URI and run roslaunch turtlebot3_bringup turtlebot3_robot.launch from the robot. Then run roslaunch homework2 figure_eight.launch mode:=real to make the robot move. You can use the pause service to pause and resume service to resume the robot.

The robot is expected to move as follows:

ezgif com-gif-maker (1)

Part 2:

Run roslaunch homework2 arm_marker.launch from the ws to run the arm in rviz with markers.



View Github

For productivity addicts who enjoys coding while listening to Spotify

Airtel Black Is Not About Affordability, But Quality Experience