This is a simple solver for the parallel mechanism(s) on the arm of Cengaver. Specifically, the relation between links A1,B1,B2 and B3 form a parallelogram, that is solved mathematically. Gripper will be added.
Check to see if you're on the right branch!
This needs to be built on a ROS 2 Humble environment where gazebo ignition fortress (6.17.0 or 6.X.X) is installed.
Required packages:
cmake
g++
ros-humble-desktop
ignition-fortress
Check the Releases to see if a compiled version exists for your achitecture, to install the file, check Installation.
First, compile the code using CMake, run these commands on the project root.
mkdir build
cd build
cmake ..
cmake --build .Once done, you should have a libarm_plugin.so file.
The file mentioned needs to be loaded by gazebo when the cengaver model is loading. The most effective way of doing this is placing the file at ~/.ignition/gazebo/plugins/ as shown below
mkdir -p ~/.ignition/gazebo/plugins/
cp libarm_plugin.so ~/.ignition/gazebo/plugins/