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Advanced Robotics Lab 3 – ROS / Kinematics

This repository contains the source code and supporting files for Lab 3 of the Advanced Robotics course. The lab focuses on controlling a custom Poppy Ergo Jr robot arm using ROS Noetic to explore direct and inverse kinematics.

Overview

The main objectives of this lab are:

  1. To control the robot arm using ROS nodes and topics.
  2. To implement forward and inverse kinematics for precise positioning of the end-effector.
  3. To develop a ROS node capable of building a tower of soft coloured cubes based on Cartesian positions.

Setup

The setup includes:

  • Hardware: Custom Poppy Ergo Jr robot arm (4 revolute joints powered by Dynamixel XL-320 servomotors).
  • Software: ROS Noetic running on Ubuntu 20.04, with dependencies on ros_cpp and std_msgs.

Contents

  • src/: Contains the ROS nodes for robot control and kinematics.
  • msg/: Custom message types for joint and gripper control.
  • srv/: Custom service for inverse kinematics.
  • launch/: Launch files for testing and running the system.