Shrung D N - ME19B168
Sidharth Tadeparti - ME19B051
Tejas Rao - ME19B179
Various Path Planning Algorithms are implemented to enforce the RCM (Remote Centre of Motion) of a surgical robot. All the simulations are done using the KUKA iiwa 7 robot package on Gazebo. FK and Constraint Checking is natively implemented.
Videos of the Simulation : https://drive.google.com/drive/folders/12K0Xaijfmy_5hERefWMMldL21ZPbWToz?usp=sharing
The report and the presentation can be found in the repository.
Running the Code
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To open the simulator: roslaunch iiwa_tool_moveit moveit_planning_and_execution.launch
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To start the controller: rosrun iiwa_control sunrise2.py
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To plan and execute path: rosrun iiwa_moveit main_joint_pub.py
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The above files need to opened in the order given.
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All algorithms are available in different files in .../catkin_ws/src/iiwa_stack/iiwa_moveit/scripts. They need to imported and appropriately used in main_joint_pub.py
Instructions:(for contributors on local machine and repo)*
- The algorithm folder, can be used, but code in deployment in RCM_Project/....../catkin_ws/src/iiwa_stack/iiwa_moveit/scripts.
- To be similarly mirrored in HOME/catkin_ws