Robotics with Shivam

 Previously on this page...… We assembled the robot and launched it in gazebo and Rviz. We understood Each file generated by URDF exporter. We added plugin to urdf and controlled our robot with which we finished first stage of our project. Adding Colors...… So lets make our sad robot happy, by adding colours😁, as I mentioned in previous post that stl file format doesn't support color and textures, we can add colors by two methods either by add colors in urdf or replacing stl files with dae files. I have tried both of them but I will recommend you to go by urdf method and in this post we will be doing the same , replacing stl with dae is little bit tedious job we will do in future. So lets get started, open your favorite  text editor, if you are using dual boot or vm ware and if using wsl go for vscode and if you are using on windows open in vs code only. open pnp_bot folder and open material.xacro file, you will find only one material tag which is silver copy paste it down an...

  Previously on this page...… We assembled the robot in Fusion360 and exported it into urdf file. We took a brief look at different folders and files generated by exporter. And if you considered bonus point you may successfully launched robot in gazebo, if not ,don't worry we will launch it again in this post.   Understanding Different files generated.... launch files: Controller.launch : this file is supplement  of gazebo.launch file, it is good convention to keep it as different launch file since it consist of joint controllers of robot in gazebo simulator, you may wonder what the controllers do in simulation, as name suggests, they control the state of joints of robot, provide feedback. Also once the controllers are loaded you can publish data, what you want the state of joint to be and can receive  feedback as well, this is how the file looks: don't worry if your file don't look like this I have formatted   so that it looks clean and easy to handle, lets tak...

 Previously on this page...… We had look at terms and concepts in ROS1. We started designing parts in Fusion 360 . Installed fusion to urdf exporter Assembling the robot...… Hope you completed the designing process for different parts and are ready to assemble the bot, in this section I will give you some tips for assembly. To began with assembly ,in Fusion 360 open a new file and drag and drop parts from left side section, start with base of robot also remember to name the file with small letters don't use capital letters, ros will show warning as it will break conventions. So now as you brought all parts in same file we are ready to assemble it, on top, in solid section you will find assemble section, expand it and hover the cursor over any tool to get short note on what the tool do. Now click on joint tool, on right , new section will be created which ask for selection for parts, now as per urdf convention your base link (base of robot) should be parent link and others should be...

 Previously on this page …… We saw how to use Xserver to export gui from wsl and how to open wsl in vscode. We installed ROS on wsl / windows and hope you have gone through beginner tutorials on ROS wiki page. I have suggested some points in previous post as well you may encounter some errors and how to solve them. Concepts in ROS: Nodes:   scripts that handle the operation under ROS master, they can  publish data on one or more topic or can subscribe to a topic to get the published data .  Also they can be service provider i.e. nodes can have sever-client communication . ROS Master :   It is like a CPU in pc, it registers nodes, keep track of which topics are published ,which node is subscribed to which topic ,which node is publishing on which topic, basically master is monitor of software nothing can kept hidden form it. Topic: rostopic is topic on which nodes talk to each other😂, just kidding , rostopic   is way by which nodes   communic...