MCT344 Open Manipulator Robot

We should control the ROBOTIS OPEN-MANIPULATOR on the GAZEBO simulator using ROS and Python. The team should place the robot along with the task object in the simulator and be able to predict the location of the robot, and move the robot to the object location, then pick up the object and place it somewhere else to do the task.
Milestone 1:
Each team decides on a set of 4 reasonable joint angles (You must move ALL joints) 2. Move the robot according to these joint angles using a ROS node that publishes on joint command topics 3. Calculate DH parameters and get the forward kinematics matrix to the base of the end effector and plug it into code 4. According to the chosen angles, calculate the end effector position 5. Publish position of end effector to a std_msgs/Float32MultiArray, data: [x y z roll pitch yaw]
Milestone 2:
we must submit a package called `open_manipulator_custom_kinematics` consisting of two nodes. The first node, `fkine_node`, subscribes to the `/joint_states` topic to fetch the joint angles of the robot. These angles are then used to calculate the forward kinematics using DH parameters, and the resulting 6 degrees of freedom (x, y, z, roll, pitch, yaw) are packed into a message and published on the `/robot_pose` topic. The second node, `ikine_node`, subscribes to the `/target_goal` topic and uses the received target coordinates to calculate the inverse kinematics. The calculated joint angles are published on the `/joint1_position/command`, `/joint2_position/command`, and `/joint3_position/command` topics to move the robot in Gazebo.
Milestone 3:
The team should be able to build an environment on GAZEBO with the robot, tables, and a task object, then pick and place the task object from one place to another place without collisions.
You can access all of the data and materials for the project at the following link: drive.google.c...