Joint Space PID Control of Robot Manipulators in ROS

Course Project for RBE500 - Foundations of Robotics (Fall 2021)

Master of Science in Robotics Engineering at Worcester Polytechnic Institute

Group Members: -

Project Description

Install the ROS dependencies using the following command:

sudo apt-get install ros-noetic-ros-control ros-noetic-ros-controllers ros-noetic-gazebo-ros-pkgs ros-noetic-gazebo-ros-control

To run this project, you will need to clone this repository in the /src of your ROS workspace
```
git clone https://github.com/ranebhushan/PID_Control_RRP.git
```
Build your ROS workspace using either catkin_make or catkin build (depending on how your workspace was created)
Open your ROS workspace in terminal and run the following command:
```
source devel/setup.bash
```
Launch the RRP robot manipulator in Gazebo Simulation Environment using by the following command:
```
roslaunch rrp_gazebo gazebo.launch
```
Once the robot is successfully spawned in Gazebo, open a new terminal and launch the effort controller node and the joint state publisher by using the following command:
```
roslaunch rrp_control rrp_effort_control.launch
```
Start the robot motion to targte positions using the following command:
```
roslaunch rbe500_project rrp.launch
```
Meanwhile all these processes are running, open a new terminal to observe current position, velocity and forces/torques of each robot joint as follows:
```
rostopic echo /rrp/joint_states
```