Project made in the Anatomy of Robots classes, using ROS and Python. The tasks were to:
- Lab1 - create ROS node to control the turtle;
- Lab2 - create the URDF file with robot's model for given variables and visualize it in RVIZ with a capability to move it's joints;
- Lab3 - create ROS nodes to solve the forward kinematics task with and without the KDL library;
- Lab4 - create ROS nodes to interpolate the trajectory in the configuration space and to generate, using interpolation, pose of created robot in the cartesian space;
- Lab5 - create ROS nodes to solve the inverse kinematics task of created robot.
Launch files were created and every component was then visualised in RVIZ.
Further description (in polish) in project's wiki.