├── .gitignore ├── .vscode └── settings.json ├── Image_resources ├── ROS1 Robotic Arm for Begginers.png ├── bazu_creation.gif ├── bazu_jtc.gif ├── kuka_jtc.gif └── kuka_sqaure.gif ├── LICENSE ├── Notes ├── all-sections_notes.pdf └── section wise notes │ ├── s1_1_how robotic arms work.pdf │ ├── s1_2_ROS Installations and Paths Setup .pdf │ ├── s1_3_Workspace and Custom Package Creation .pdf │ ├── s2_1_Custom Robotic Arm Design into URDF .pdf │ ├── s2_2_Transforms , States publishing RSP & JSP .pdf │ ├── s2_3_Gazebo and Physical Properties .pdf │ ├── s3_1_ROS-2 Control .pdf │ ├── s3_2_Denavit–Hartenberg Parameters .pdf │ ├── s3_3_Forward and Inverse Kinematics .pdf │ ├── s4_1_Kuka ->KR-150 6-DOF .pdf │ ├── s4_2_Adding Custom Controllers .pdf │ ├── s4_3_Kinematics solution with Ikine-Py .pdf │ └── s4_4_Action Client Interface for Sqaure Waypoints .pdf ├── README.md ├── big_bazu ├── .vscode │ ├── c_cpp_properties.json │ └── settings.json ├── big_bazu │ └── __init__.py ├── config │ └── jtc.yaml ├── launch │ ├── controller.launch.py │ ├── gazebo.launch.py │ └── rviz.launch.py ├── package.xml ├── resource │ └── big_bazu ├── setup.cfg ├── setup.py ├── test │ ├── test_copyright.py │ ├── test_flake8.py │ └── test_pep257.py └── urdf │ ├── big_bazu.urdf │ └── big_bazu_.urdf └── kuka_kr210_arm ├── config └── jtc.yaml ├── kuka_kr210_arm ├── 1_controller_test.py ├── 2_inverse_kinematics_solution.py ├── 2_kinematic_solver.py ├── 3_action_client_interface.py └── __init__.py ├── launch ├── controller.launch.py ├── gazebo.launch.py └── rviz.launch.py ├── meshes ├── collision │ ├── base_link.stl │ ├── finger_left_collision.dae │ ├── finger_right_collision.dae │ ├── link_1.stl │ ├── link_2.stl │ ├── link_3.stl │ ├── link_4.stl │ ├── link_5.stl │ └── link_6.stl └── visual │ ├── base_link.dae │ ├── finger_left.dae │ ├── finger_right.dae │ ├── gripper_base.dae │ ├── link_1.dae │ ├── link_2.dae │ ├── link_3.dae │ ├── link_4.dae │ ├── link_5.dae │ └── link_6.dae ├── package.xml ├── resource └── kuka_kr210_arm ├── setup.cfg ├── setup.py ├── test ├── test_copyright.py ├── test_flake8.py └── test_pep257.py └── urdf ├── kr210.gazebo.xacro ├── kr210.urdf ├── kr210.urdf.xacro └── target.urdf.xacro /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/noshluk2/ROS2-Ultimate-guide-for-Custom-Robotic-Arms-and-Kuka-Kr210/HEAD/.gitignore -------------------------------------------------------------------------------- /.vscode/settings.json: -------------------------------------------------------------------------------- 1 | { 2 | "cmake.configureOnOpen": false 3 | } -------------------------------------------------------------------------------- /Image_resources/ROS1 Robotic Arm for Begginers.png: -------------------------------------------------------------------------------- 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