Control of One-Dof Arm with Gazebo and ROS

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Table of Contents

1. About The Project
   • Built With
2. Getting Started
   • Prerequisites
   • Installation
3. Usage
4. Roadmap
5. Contributing
6. License
7. Contact
8. Acknowledgements

About The Project

In this project, we are expected to create a single-link arm simulation in ROS/Gazebo environment and control the system. Example system model can be seen figure below.

Getting Started

To get a local copy up and running follow these simple steps.

Prerequisites

List of the packages that is required for this package is

• Robot Operating System(ROS)
• Dynamic Reconfigure Package
• Gazebo
• Rqt

Installation

1. Clone the repo

   git clone https://github.com/oguzhankose/one_dof_arm.git

2. Build package with Catkin

   cd ~/one_dof_arm
   catkin_make

Usage

1. First, make sure that you sourced the package.

   source devel/setup.bash

2. Spawn the model of the robot in Gazebo

   sh spawn_model.sh

3. Start controllers and the GUI [From another terminal]

   sh control.sh

Roadmap

See the open issues for a list of proposed features (and known issues).

Contributing

Contributions are what make the open source community such an amazing place to learn, inspire, and create. Any contributions you make are greatly appreciated.

1. Fork the Project
2. Create your Feature Branch (git checkout -b feature/AmazingFeature)
3. Commit your Changes (git commit -m 'Add some AmazingFeature')
4. Push to the Branch (git push origin feature/AmazingFeature)
5. Open a Pull Request

License

Distributed under the MIT License. See LICENSE for more information.

Contact

Oguzhan Kose - @twitter - [email protected]

Project Link: https://github.com/oguzhankose/one_dof_arm