ygong0712 / ROS_MobileArm

A 4-wheel differential driven base with a robotic manipulator.

ROS_MobileArm

This is a DriveDream internship project. The robot is a 4-wheel differential driven base with a robotic manipulator. The aim of the project is to:

• Build the mobile manipulator's kinematics and dynamic model.
• Simulate and remote control the robot in Gazebo.
• Let the robot navigate autonomously in a known environment.

Agenda

Tim:

• Create the framework of the repo.
• Add template files.
• Unify the data type.

Keyu Ge:

• Learn from champ, which is a good example of how a ROS project should be.
• Create a package named kinematics and do the following tasks:
  • Build the kinematics model of a 4-wheel differential driven vehicel.

Yijie Gong:

• Study ROS2.
• Create a package named robot_description and do the following tasks:
  • Write/build a 4-wheel_robot_model.urdf (or in .xacro, chose one).
  • Display the robot in rviz and gazebo.
• Read the documents and run some examples nav2 and moveit2
• Replace the simple model with husky + ur5.

Log

Please markdown every problem you meet during the intership in the log folder.

Learning Resources

If you find any good learning resources please put them into the learning folder.