Make a Turtlebot3 follow a figure 8 trajectory and create a robot arm and make it follow a trajectory
Part 1:
Makes the robot move in a figure 8 shape. The robot starts moving when launched on a real turtlebot3 and can be paused and resumed.
Part 2:
Defines a two arm robot with an end effector. When launched the robot arm moves in a trajectory and also shows markers at the end effector in rviz
Part 1:
There are two modes for this robot. To launch the sim version, one can run roslaunch homework2 figure_eight.launch mode:=sim.
The math tat defines the figure 8 trajectory can be seen in the math.py file in src/homework2
Below are the expected results:
To make the real turtlebot3 move, run roscore