kinematics_animation

A robotic manipulator visualization and animation tool developed to support baxter robot

forked from sherifm/kinematics_animation

Dependencies

1. scipy (sudo pip install -U scipy)

Installation Steps

1. Change the directory to src folder of ros workspace
2. Clone the repo (or download accordingly)
3. After successful cloning, go back to ros workspace
4. Run catkin_make command

Steps to add a new robot

1. Create a launch file, similar to existing launch file located inside luanch directory
2. Change the file argument as per new robot
3. Provide the urdf.xacro file of the new robot as robot_description parameter
4. Provide the rviz file as per new robot under rviz package
5. Create a new python script to read the input csv file
6. The newly created python script must publish all the joint state

Steps to run the baxter animation

1. Change the directory to ros workspace
2. Make sure to source the setup.bash ros workspace file by following command source devel/setup.bash
3. Use roslaunch to invoke animation roslaunch kinematics_animation baxter.launch
4. Alternativily, the csv file can be provided as command line argument roslaunch kinematics_animation baxter.launch file:=/home/ravi/Desktop/joint_states.csv