Semester project for course CSE/MYE031 - Robotics, Department of Computer Science and Engineering
This project consists of the design and implementation of the trajectory of p2os robot using ROS and gazebo simulator. For the implementation of the trajectory, the cmd_vel topic was used, which belongs to the geometry_msgs (geometry_msgs/Twist) file.
The method that was used for the design of the trajectory are cube polynomials.
In order to move the robot into the space, there were created 5 trajectories, who are published in the cmd_vel topic of th geometry_msgs/Twist. This is happening after t_f seconds. For angular tranjectories, t_f is equaled to 10. For linear trajectories, t_f is equaled to 100.
Open three terminals on your desktop. In the first terminal run the command line
roscorein order to connect into the ROS core.
In the second terminal run the command line
roslaunch p2os_urdf pioneer3dx.gazebo.launch
in order to open gazebo simulator with p2os robot model.
In the third terminal run the command line
rosrun PathPlanning TrajectoryGenso the robot can take the desired trajectories and move to the two point location inside the cartesian space.