Up:Tutorial? If you have any question, please contact yoann.dutel@outlook.fr Introduction †The aim of this tutorial is to explain how to use KDL with ROS in SIGVerse. With KDL, you could use an inverse kinematic solver. So, you could control the arm of a robot. KDL is not very accurate. So you musn't use this exmample to grasp an object on a table. But you can use this to have an iteraction with an human. An other Inverse Kinematic Solver is in process of integration for SigVerse : IKFast. We will show you a demonstration with an example in SIGVerse. Requirements †
Use the package †Download the package †Clone the ROS package from github in your ROS workspace. You can clone the entire repository by running : $ git clone https://github.com/SIGVerse/samples.git Or you can get the source code here on Github : https://github.com/SIGVerse/samples/tree/master/Kinem_Sig_Ros Insert the environment †Include this xml file in the devel/lib directory of your ROS workspace : Build the project †Go in your ROS workspace and build your project. For example : $ cd ~/catkin_ws $ catkin_make Run this command to initialize KDL node in ROS : $ source /opt/ros/groovy/setup.sh Testing the package †Run the simulation †Run three terminal.
How use the demonstrator †You must send a specific command to control the arm :
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