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Introduction

Welcome to the part of the workshop where you will learn how to work with frame transformations and trajectory planning.

Aww snap! There should be an image here!

At the end of this day you will be able to do the following:

  • Write the relations between coordinate frames in a URDF file
  • Publish custom transformation either from a Python script or command line
  • Get the transformation between two arbitrary transforms
  • Understand the relation between joint state publisher and robot state publisher
  • Use Rviz to visualize the robot and the coordinate frames
  • Use Rviz to plan a trajectory that brings the robot from one configuration to another whilst avoiding collisions
  • Use the MoveIt API to plan and execute robot trajectories
  • Write a tool to save the current robot state - used for programming robot motions