This package spawns a robot with a revolute-revolute joint configuration and an object with certain coloured features. The robot contains a camera at the end effector joint. The goal of the node is to manipulate the Robot in the cartesian space, so that we observe the object move from one location to another in the image space.
Note: This repository is a ROS Package implemented using ROS Noetic and Gazebo 11. Clone this into the src folder of your ROS workspace and then build from inside the workspace folder.
As seen from the images below, we see the desired positions of the object at the start and end of the visual servoing algorithm (in the image space). The node computes the pose required for the robot at which we can get the images as shown below.
