Kucukcollu / four_dof_manipulator

four_dof_manipulator

Simulation of 4 DoF Manipulator

Project Information

OS: Ubuntu 18.04

ROS distro: Melodic

Additional Plugin: gazebo_grasp_fix

How it works in your machine?

$cd catkin_ws/src

$git clone https://github.com/Kucukcollu/four_dof_manipulator.git

for MoveIt package

https://github.com/Kucukcollu/manipulator_motion_planning

$cd catkin_ws/

$catkin_make

Simulation in RViz

$roslaunch four_dof_manipulator display.launch

Simulation in Gazebo

$roslaunch four_dof_manipulator gazebo.launch

Mainly there are three way to simulate manipulator

1- Publish command from terminal

Controlling of arm:

$rostopic pub /arm_controller/command trajectory_msgs/JointTrajectory '{joint_names: ["joint_1","joint_2","joint_3","joint_4"],points:[{positions: [0.98,0.83,-3.62,0.19],time_from_start:[1,0]}]}' -1

Controlling of hand:

$rostopic pub /hand_controller/command trajectory_msgs/JointTrajectory '{joint_names: ["finger1","finger2"],points:[{positions: [0.2,-0.2],time_from_start:[1,0]}]}' -1

2- Run MoveIt and Gazebo together

$roslaunch four_dof_manipulator all.launch

3- Run via Script

$roslaunch four_dof_manipulator gazebo.launch

or

$roslaunch four_dof_manipulator all.launch

then

$rosrun four_dof_manipulator manipulator_motion.py

Final Simulation

Project Members:

Ali Aydın Küçükçöllü

Batuhan Yalçınkaya

Nurettin Uğur Alagaş