DOOSAN Robot arm simple motion planning

(work in progress)

This repository contains the code and documentation for a motion control system for DOOSAN robots. The system control of the robot's movements, simple trajectory planning with linear interpolation

Launch the file

roslaunch my_robot_controller m0609_Rviz.launch

For moving the robot initialize the controller node

rosrun my_robot_controller robot_controller_node

Public the message to change the position and orientation

rostopic pub /target_position geometry_msgs/Pose "position:
 x: 0.4
 y: 0.2
 z: 0.5
orientation:
 x: 0.4
 y: 0.3
 z: 0.2
 w: 0.1" 

Add Marker visualization in rviz simulator with the topic /trajectory_marker to visualize the trajectory

System requirements

• ubuntu 20.04 lts
• ros noetic

Dependencies

https://github.com/doosan-robotics/doosan-robot.git