Developing codebase in C++ for implementing these tasks:
- Move the arm to given joint angles using youBot driver interface.
- Move the arm to a given pose by performing Inverse Kinematics using KDL library.
- Move the arm to a given pose by velocity control.
- Move the arm to a given pose using the Popov-Vereshchagin Hybrid Dynamics solver interface from KDL.
- Robot Platform: KUKA youBot
- OS: Ubuntu 20.04 / 22.04 LTS
- Middleware:ROS2 Rolling
- Libraries: youbot_driver, KDL
Please refer the detailed steps provided to setup the environment and use it for the project in the Wiki page - here