cubic-traj-gen

• Code developed by Kaviraj Gosaye, QMUL

• Student ID: 220575371

• Package Name : ar_week8_test

Description:

This ROS package will automatically generate point-to-point cubic trajectories connecting pairs of randomly generated points

Commands to run package:

1. Unzip package ar_week8_test into the 'src' folder of the root directory of your catkin workspace.

2. Launch a terminal for ROS

3. Execute the following to setup environment variables: source /opt/ros/noetic/setup.bash

4. Build package (in root directory): catkin_make

5. Source the workspace: source devel/setup.bash

6. Execute the command to run the package: roslaunch ar_week8_test cubic_traj_gen.launch

Running the step 6 will start the nodes and service and rqt_graph and rqt_plot GUI will automatically open.

• Select the topics trajPos, trajVel and trajAcc in rqt_plot to visualize the values.
• Select Nodes/Topics(active) and click on refresh in rqt_graph to visualize the nodes and topics

Tech and Versions:

1. Ubuntu 20.04.6 - focal
2. ROS Noetic
3. catkin
4. rqt
5. Python 3.8.10

Package Structure:

Communication Flow: