Homework 2

** Nikita Smirnov B18-RO-01 **

Description

• 9 d.o.f manipulator
• 3 links
• 3 spherical joints

Run

roslaunch ros-homework display.launch model:=urdf/01-myfirst.urdf

Problems

• Installation failed several times, after that I had to reinstall the whole system.
• Turned out that macOS XQuartz does not support OpenGL fully, so it was impossible to verify the urdf using rviz.
• At first, I wanted to create Stewart platform. Then I found out that urdf does not support closed kinematic chains.
• I still don't know how to write scripts for this thing. To be precise, I don't know how to run them.

Conclusion

I need more time to dive into this thing.