https://github.com/leopits/doosan_arm_simple_motion_planning

simple motion planning with Doosan arm
https://github.com/leopits/doosan_arm_simple_motion_planning

6dof-robot-kinematics cpp doosan-robotics motion-planning ros-noetic

Last synced: 3 months ago
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simple motion planning with Doosan arm

• Host: GitHub
• URL: https://github.com/leopits/doosan_arm_simple_motion_planning
• Owner: LeoPits
• Created: 2025-01-22T09:32:35.000Z (5 months ago)
• Default Branch: master
• Last Pushed: 2025-01-22T17:11:57.000Z (5 months ago)
• Last Synced: 2025-03-23T20:45:04.922Z (3 months ago)
• Topics: 6dof-robot-kinematics, cpp, doosan-robotics, motion-planning, ros-noetic
• Language: C++
• Homepage:
• Size: 16.8 MB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • Changelog: CHANGELOG.rst

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README

        
# 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 

![simplescreenrecorder-2025-01-22_17 23 45-ezgif com-video-to-gif-converter (1)](https://github.com/user-attachments/assets/b6ea01a1-e6ca-4821-9beb-beb53ec150a6)

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