MARIO
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SRA-VJTI
Official Repository for ROS-based Manipulator, implemented with ESP32
In the release tab at the side of the repo, the install script is from 2020. It needs to be updated to the 2021 version of `install_codes.sh` which is present...
All inverse kinematic computation code is in `inverse_kinematics.c`, we've made minimal changes to existing code. The program takes in co-ordinates from the web-server, applies inverse kinematics on it to converts...
Currently the latest ESP-IDF release version is 4.4.1. All the firmware of MARIO should be updated to be able to compile with that IDF.
The current installer script needs to be updated to install ROS2 "Humble Hawksbill" and esp-idf v5.1, taking into account all the dependencies.
Update README.md for following changes - Changed ROSSERIAL to micro-ROS - Updated Installation instructions
- As ROS1 has ended its support for the latest ubuntu versions and as industry is progressing we need to adapt to the changes and port as soon as possible...
[NECESSARY CHANGES]: - Change URDF to SDF - [Reference](https://answers.gazebosim.org//question/28393/how-to-convert-an-urdf-to-sdf-with-gazebo-ignition/) - Things to be considered in this migration - While converting directly to .sdf make sure of the controllers from ros2_control...
ROS1 noetic has an edge-compatible platform rosserial which utilizes its xml-rpc protocol for esp32 and wifi for communication with the roscore. ROS2 on the other hand utilizes DDS as its...
As MARIO v2.3 is ported to ROS2, the component 2_simulation_dh needs to be changed.
Modify the structure in all firmware codes according to the struct defined in the servo.h code
