How to run the code

Install AMBF simulator

To install the AMBF simulator, follow the instructions mentioned in the GitHub Repository: https://github.com/WPI-AIM/ambf

Add the YAML file for 2 DOF, 3 DOF and 7 DOF robot to AMBF

• Copy the YAML files present in the YAML file folder to the home following directory (assuming ambf was installed in the home folder): /home/user_name/ambf/ambf_models/descriptions/multi-bodies
• In the /home/user_name/ambf/ambf_models/descriptions open launch.yaml
• Uncomment the existing robot model in multibody configs
• Add the following to the multibody configs file: - "./multi-bodies/robots/blender-kuka3dof.yaml"
• If for 2 dof change the name to blender-kuka2dof.yaml and similary for 7 DOF

To Run the Example Codes written in Python to understand

• Run roscore in one of the terminal windows
• Ensure the ambf simulator is sourced in the terminal you are launching the python terminal (I had used Pycharm)
• For running the example of CTC module implemented on a 3 DOF robot in python, Run the file named '3-DOF-CTC_set_point.py'
• For running 2 DOF CTC trajectory tracking code in python, Run the file named '2DOF-InverseDyamics.py'

To Run the n DOF Robot code

• Run roscore in one of the terminal windows
• Ensure the ambf simulator is sourced in the terminal you are launching the python terminal (I had used Pycharm)
• For running the CTC module, Run the file named 'inversedynamiccontrol4.py'
• For running the PID module, Run the file named 'PID controller.py'
• When the computer prompts, enter the link you want to control (in the examples had used link 1)
• A GUI would pop up where you can provide the desired position and velocity
• Adjust the Gain values to reduce the error value being printed to a very small value

How to run the 3 DOF trajectory tracking code

• Run roscore in one of the terminal windows
• Ensure the ambf simulator is sourced in the terminal you are launching the python terminal (I had used Pycharm)
• Run the file named 'inversedynamiccontrol2.py'
• When the computer prompts, enter the link you want to control (in the examples had used link 1)
• A GUI would pop up where you can provide the desired position
• Adjust the Gain values to reduce the error value being printed to a very small value

How to see output in graph

• Install PlotJuggler from GitHub Repository: https://github.com/facontidavide/PlotJuggler
• Run plotjuggler using command: rosrun plotjuggler PlotJuggler
• In the streaming tab, select Start: ROS_Topic_streamer
• Select 'tau_plot' and you can see the output