The way to implement PID control and InverseKinematics on PR2 model in Gazebo

asked 2017-11-14 14:29:50 -0500

tomato1986 gravatar image

Hi. I am trying to implement the code that makes PR2 model's arm and gripper pick and place objects with PID control and InverseKInematics on Gazebo simulation.

[Simulation environment]Ubuntu 14.04LTS + ROS indigo

I already read following tutorial and I could implemented PID control by using pr2_mechanism. http://wiki.ros.org/pr2_mechanism/Tut...

However, for InverseKInematics, I could not a find tutorial to implement inversekinematics by using pr2_mechanism. Does anyone know where I can find the tutorial? Should I use Moveit?

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