I started the project with Sonia Marshall as part of our coursework for INFR09019 Introduction to Vision and Robotics. I then kept working on the project until I brought it from the state documented in folder 'Initial Assignment' up to the present state.
A very useful resource which helped me understand the Denavit-Hartenberg parameters was the Robotic Arm Kinematic GUI (part of MRPT). I used it to check my calculations which can be found here.
source devel/setup.sh
roslaunch sphere-follower-robot control.launch
roslaunch sphere-follower-robot spawn.launch
source temp-python/bin/activate
rosrun sphere-follower-robot BlobsEstimator.py rosrun sphere-follower-robot TargetEstimator.py rosrun sphere-follower-robot JointAnglesEstimator.py
rosrun sphere-follower-robot Controller.py
rosrun sphere-follower-robot ForwardKinematics.py
rostopic pub -1 /robot/joint1_position_controller/command std_msgs/Float64 βdata: 1.0β
For each one, run the command, click on the arrow button to set axes (choose around 50 seconds) and save as an image.
- rqt_plot /target_position_estimate/data[0] /target/x_position_controller/command/data
- rqt_plot /target_position_estimate/data[1] /target/y_position_controller/command/data
- rqt_plot /target_position_estimate/data[2] /target/z_position_controller/command/data
- rqt_plot /target_position_estimate/data[0] /blobs_pos/data[9]
- rqt_plot /target_position_estimate/data[1] /blobs_pos/data[10]
- rqt_plot /target_position_estimate/data[2] /blobs_pos/data[11]