Inverse-Kinematics-MoveIt

The repository contains a driver for configuring Inverse Kinematics on a UR5 Robotic Arm and making it perform several tasks on an Inspection Panel
Simulation Software: Gazebo Framework: ROS Dependencies used:

1. MoveIt
2. math
3. Numpy
4. time
5. rospy

Sensors used:

1. Stereocamera
2. Imu
3. UR5 Robotic Arm

Installation Instructions

If you don't have a catkin workspace,open a terminal and run

mkdir -p catkin_ws/src
cd catkin_ws
source /opt/ros/noetic/setup.bash
catkin_make

After creating a workspace, open a terminal and execute

cd catkin_ws/src
git pull https://github.com/LavaHawk0123/Inverse-Kinematics-MoveIt.git
cd /simulation/scripts

chmod +x objective1.py
chmod +x objective2.py
chmod +x objective3.py
chmod +x objective4.py
chmod +x final_2.py
chmod +x objective2b.py
chmod +x final_3.py
chmod +x home.py
chmod +x gripper.py

Now that all the files are executable, run :

roslaunch simulation aruco_detect.launch

Simulation output