ws23-youbot-manipulation-ros2

ROS2 based youBot-arm manipulation using C++

Developing codebase in C++ for implementing these tasks:

1. Move the arm to given joint angles using youBot driver interface.
2. Move the arm to a given pose by performing Inverse Kinematics using KDL library.
3. Move the arm to a given pose by velocity control.
4. Move the arm to a given pose using the Popov-Vereshchagin Hybrid Dynamics solver interface from KDL.

Technologies

• Robot Platform: KUKA youBot
• OS: Ubuntu 20.04 / 22.04 LTS
• Middleware:ROS2 Rolling
• Libraries: youbot_driver, KDL

Setup and Usage of customized Package

Please refer the detailed steps provided to setup the environment and use it for the project in the Wiki page - here