COMPGX01 - Robotic Systems Engineering Coursework 1

Question 7

A ROS service server has been written to convert different representations. The instructions are as followed:

• Launch this server using rosrun coursework_1 coursework_1_node
  • The server will be up, and ready for any ROS service client to request for a response.

Alternatively, three seperate nodes has been written for each part of question 7.

• Launch part(a) using roslaunch coursework_1 quat_to_Euler.launch
• Launch part(b) using roslaunch coursework_1 quat_to_Axis.launch
• Launch part(c) using roslaunch coursework_1 rotation_to_Quat.launch
  • You can pass in the arguments of each launch file with the respective parameter values.

Question 8(d)

A ROS node has been created to retrieve DH parameters from the published topics by youbot. The respective TF are broadcasted after obtaining the DH parameters.

• Launch using roslaunch coursework_1 forwardKinematic.launch
  • Remember to launch the youbot simulator by roslaunch youbot_simulator youbot_sim.launch
• The DH parameters are obtained by subscribing to /gazebo/link_staes and /joint_states topics.
  • Standard DH convention is used, only rotation and translation around z-axis first before x-axis.
  • the frames orientation are a little different from the original youbot due to the DH convention, since ROS is able to rotate and translate around 3 axis.