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CSMM.103x - ColumbiaX | Robotics | edX

  1. project1: publish and subscribe custom messages.

  2. tf2_examples: basic example using the tf2 package for coordinate system's transformations.

  3. project2_solution: program that uses tf to describe the poses between a robot, its camera and an object.

  4. marker_publisher: used in project2_solution to visualize the transformations. It's invoked by project2_solution.

  5. project3: packages that analyze the forward dynamics of a Kuka LBR iiwa arm.

  6. project4/cartesian_control: also with the package robot_sim from project3, uses the differential kinematics of the Kuka LBR iiwa robot arm.

  7. project5: In order for the robot end-effector to reach a desired pose without collisions with any obstacles present in its environment it's necessary to implement motion planning. In this project is used a Rapidly-exploring Random Tree (RRT) motion planner for the same 7-jointed robot arm of the previous lectures.