Challenge Problem 2

Joint Control

####Compilation In challenge_problem/catkin_ws

rm -rf build
mkdir build
cd build
cmake ..
make

Add path to .bashrc

export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:~/challenge_problem/catkin_ws/build

Usage

Set the orientation of the joint in radians

./set_joint_rot 'x y z'

Set the pose of the joint in meters (currently z is fixed to avoid drifting)

./set_joint_trans 'x y z'

###Environment setup

Compilation

In challenge_problem

rm -rf build
catkin_make
source devel/setup.bash

Usage

Launch the simulation environment

roslaunch cp1_gazebo cp1-displ-test.launch
python tf_broadcaster.py