22 lines
1.1 KiB
Markdown
22 lines
1.1 KiB
Markdown
# Advanced Robotics Lab 3 – ROS / Kinematics
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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.
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## Overview
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The main objectives of this lab are:
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1. To control the robot arm using ROS nodes and topics.
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2. To implement forward and inverse kinematics for precise positioning of the end-effector.
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3. To develop a ROS node capable of building a tower of soft coloured cubes based on Cartesian positions.
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## Setup
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The setup includes:
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- **Hardware**: Custom Poppy Ergo Jr robot arm (4 revolute joints powered by Dynamixel XL-320 servomotors).
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- **Software**: ROS Noetic running on Ubuntu 20.04, with dependencies on `ros_cpp` and `std_msgs`.
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## Contents
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- **src/**: Contains the ROS nodes for robot control and kinematics.
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- **msg/**: Custom message types for joint and gripper control.
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- **srv/**: Custom service for inverse kinematics.
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- **launch/**: Launch files for testing and running the system.
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