This Repository contains only Part 1 of the project.
- urdf_quad contain the details about the robot Quad (only one leg).
- moveit3 is generated with moveit.
- project_control consist of node to control the robot.
##Installation The package need to be instal in your catkin workspace.
cd catkin_ws/src
git clone https://github.com/Seekcha/RI_Part3.git
catkin build
cd ..
source devel/setup.bash
Open front left leg in RVIZ in first terminal:
source devel/setup.bash
roslaunch moveit3 demo.launch
Launch direct.launch in second terminal:
source devel/setup.bash
roslaunch project_control direct.launch
Launch in third terminal:
source devel/setup.bash
rosservice call /direct_kin_service_front_left_leg "
joint1:
data: 1.2100
joint2:
data: 0.000
joint3:
data: 0.1700
joint4:
data: -1.629
"