Up:Tutorial?
If you have any question, please contact yoann.dutel@outlook.fr
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.
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/KDL_ROS
Include this xml file in the devel/lib directory of your ROS workspace :
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
Run three terminal.
$ roscore
$ cd ~/catkin_ws $ rosrun Kinem_Sig_Ros Arm_Control1
$ cd ~/catkin_ws/devel/lib $ sigserver.sh -w ./RobotInMove.xml
You must send a specific command to control the arm :