trajectory_planning_gui

A C++ Qt-based software controller for a 6 DOF robotic arm, with ROS backend.

Installation

Clone the repositories using:

git clone https://github.com/anubhav1772/6-dof-robotic-arm.git
git clone https://github.com/anubhav1772/trajectory_planning_gui.git

Run catkin_make in your ROS source directory

$ cd ~/catkin_ws
$ catkin_make

Start the simulation using:

$ roslaunch owr_gazebo owr_spawn.launch

Launch moveit and rviz:

$ roslaunch owr_moveit_config owr_simulation_execution.launch

Launch GUI:

$ roslaunch trajectory_planning_gui trajectory_planning_gui.launch

(Qt Specific):

$ sudo apt install qtcreator
$ sudo apt install libqt5multimedia5-plugins qtmultimedia5-dev

Cartestian-based trajectory planning (straight line path)

Requirements

• 6-dof-robotic-arm package
• Eigen v3.4.0 - Installation
• Qt5Widgets, Qt5Multimedia and Qt5MultimediaWidgets
• ROS Noetic (Ubuntu 20.04)
• Gazebo v11.11.0