Getting Started
This tutorial will guide you step-by-step on how to set up the environment and install all dependencies.
Tutorial 1: Visualizing the Robot
A robot is made of joints connected by links. To promote modularity and reusability, the kinematic and dynamic parameters of a robot are described in a Unified Robot Description Format (URDF) file. A URDF is an XML file built around two core tags: ` and `.
Tutorial 2: Moving the Robot (MoveIt 2 + RViz)
In this tutorial we will make the real robot move using MoveIt 2 and RViz. Follow each step carefully, from this point on, we are working with real hardware.
Tutorial 3: Moving the Robot (MoveGroup C++ API)
Controlling a robot from a program is the foundation of any automation pipeline. In ROS 2 and MoveIt 2, the MoveGroup C++ API allows you to define pose targets, tune motion parameters, and select planners.
Tutorial 4: Springs and Dampers
In this tutorial we will explore how different Kp and Kd gains of a PD controller influence the behavior of the robot. We will start by discussing what happens under the hood, and then experiment directly on the hardware.
Tutorial 5: Playing with Gravity
In this tutorial we will explore how gravity affects robot motion, how it can be compensated for in the controller, and what interesting behaviors emerge as a result.