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Kinematics

C++ implementation of the kinematics for an UR5.

Getting started

To get started, clone this repository as a catkin package and in your workspace root, issue

$ catkin_make install

After that, launch ur5_generic.py file (you'll need the Locosim framework) and in another terminal shell, run

$ rosrun kinematics kinematics_node

Module organization

The source code is in the src[src] directory.

  • The kinematics.cpp file contains the main components of the program.
  • The robot.cpp file contains the implementation of the robot class.
  • The controller.cpp file contains the implementation of the controller algorithms.
  • The ros.cpp file and utils.cpp file contain the implementation of some utilities (respectively ros management and math utils functions).
  • The tasks directory contains the code for each tasks, which are called by the main function in kinematics.cpp.

The include directory contains all the headers files (.hpp).

Doxygen documentation

To generate the HTML version of the documentation, you'll need the Doxygen tool. After installing the tool, issue

$ doxygen

Running tasks 3 and 4

In tasks 3 and 4, we employed a virtual link attacher in order to simulate the correct behavior of the gripper. Dowload into your CatKin workspace the Gazebo service code at this link, and add the following line to your .world file.

<plugin name="ros_link_attacher_plugin" filename="libgazebo_ros_link_attacher.so"/>