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Additional demos #170
Additional demos #170
Commits on Apr 11, 2024
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tutorial of KDL installation and demo of Cartesian space movement based on KDL, including forward kinematics and inverse kinematics based on KDL
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This demo, based on forward kinematics and inverse kinematics provided by KDL, makes the robot move in z axis in Cartesian space. About how to run this demo, please refer to 'KDL installation and demo.pdf' in the directory './lbr_demos_fri_ros2_cpp/doc/KDL installation and demo.pdf'.
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Commits on Apr 16, 2024
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Create cartesian_pose_node.cpp
The function of this node is to publish Cartesian Pose state of the robot and receive Cartesian Pose Command from other ros nodes.
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This file introduces how to install KDL(kinematics and dynamics library) in our system and a demo based on it is given to make the robot run in z direction in Cartesian space.
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Update cartesian_path_planning_node.cpp
This node publishes Cartesian Pose command.
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Update cartesian_path_planning_node.cpp
This node, as a demo, publishes Cartesian Pose command to make the robot run in z direction in Cartesian space.
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Update cartesian_pose_node.cpp
This node publishes Cartesian Pose state of the robot and receives Cartesian Pose command from other ros nodes, and transform it into joint positions based on KDL to send to the robot.
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Commits on Apr 19, 2024
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Commits on Apr 22, 2024
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Merge pull request #167 from BoWangFromMars/BoWangFromMars-patch-1
thank you again for the contribution @BoWangFromMars , will merge this into the `dev` branch and update as needed. Please open another PR if you feel like you want to amend changes.
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Commits on May 2, 2024
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Commits on May 3, 2024
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Commits on May 4, 2024
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Commits on May 5, 2024
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