orsalmon / kuka_manipulator_gazebo

A project in ROS & Gazebo of 3DoF KUKA KR5 robotic arm. The service gets [x y z] coordinates (m) and time duration (s), calculates trajectory with trapezoidal velocity profile and then executing the manipulation.

KUKA KR5 manipulator gazebo

This is a little project in ROS & Gazebo of 3DoF KUKA robotic arm.

The manipulator gets [x y z] cordinates (m) and time duration (s), then does IK calculations and executes linaer trajectory with trapezoidal velocity profile.

Prerequisites:

Install gazebo add-ons:

sudo apt-get install ros-indigo-move-base

sudo apt-get install ros-indigo-ros-control ros-indigo-ros-controllers

sudo apt-get install ros-indigo-gazebo-ros-control

Install this package in your catkin_ws

(in a new terminal window) "source ~/catkin_ws/devel/setup.bash"

"cd ~/catkin_ws/src"

"git clone https://github.com/orsalmon/kuka_manipulator_gazebo.git"

"cd .."

"catkin_make"

Launching The Manipulator In GAZEBO Simulator:

(in a new terminal window)

"source ~/catkin_ws/devel/setup.bash"

"roslaunch manipulator_gazebo manipulator_empty_world.launch"

(in a new terminal window)

"source ~/catkin_ws/devel/setup.bash"

"rosrun manipulator_gazebo move_arm_server"

To send a command:

(in a new terminal window)

"source ~/catkin_ws/devel/setup.bash"

"rosservice call /move_arm"

now press "TAB" for auto complete and refill the desired values.

kuka_manipulator_gazebo's Issues

Is it also possible to turn the endeffector

Hey there,

I successfully was able to give the endeffector an end position but I am unfortunately not able to turn the endeffector.... - basically I just want to tilt the endefectors position(in x and y) and turn it around its own axis

Any ideas how to achieve that?

Oh I just saw that you are using only 4 joints (with base joint) so it is not possible to influence the endeffectors orientation directly ...... more joints are required!

So perfect would be if you kind of know the transformation from link3 (-0.062257 -0.0012327 0.14769) to the endeffector's position

Markus

How to set the RosService parameters?

I'm able to get the things ready but still facing some issue in sending the comand to controllers because I'm unable to use the following command.
"rosservice call /move_arm"

How can I set the parameters for these arguments in terminal?
std_msgs/Float64[3] desired_xyz
std_msgs/Float64 duration

I used " rosservice call /move_arm "data: 0.5, 0.5, 0.5" "data: 0.6" "
but getting error...

thanks...

Passing parameters

Can you provide an example of how to pass the data in the following command:
"rosservice call /move_arm"

I am getting an error while trying to send the coordinated and time.