RI_Part3

This Repository contains only Part 1 of the project.

1. urdf_quad contain the details about the robot Quad (only one leg).
2. moveit3 is generated with moveit.
3. 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

Execution

Front left leg in RVIZ

Open front left leg in RVIZ in first terminal:

source devel/setup.bash
roslaunch moveit3 demo.launch

Movement

Launch direct.launch in second terminal:

source devel/setup.bash
roslaunch project_control direct.launch

Calling function

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
 "