Implement a ROS package which automatically generates Cartesian space movements of the end effector of the panda robot manipulator. The end-effector will sketch squares of varying sizes on the Cartesian plane.
To execute the simulation, please follow the given steps:
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Download the zip file of the package into your catkin workspace.
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Now, navigate to your catkin workspace directory through the terminal and issue the "catkin_make" command.
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To install panda moveit repository, we issue the following commands after navigating to "catkin_ws/src" in the terminal. 1] git clone -b melodic-devel https://github.com/ros-planning/panda_moveit_config.git 2] rosdep update 3] rosdep install --from-paths . --ignore-src -r -y 4] cd .. 5] catkin_make
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In the "catkin_ws/src/ar_week10_test" directory we write the programs in the "scripts" folder and the message file in the "msg" folder.
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To make our python programs executable, we navigate to the directory where they are stored through the terminal and issue the command "chmod +x program_name.py".
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Now, we open four new terminal tabs and issue the following commands one by one: 1] roslaunch panda_moveit_config demo.launch 2] rosrun ar_week10_test square_size_generator.py 3] rosrun ar_week10_test move_panda_square.py 4] rosrun rqt_plot rqt_plot