- Robot Arm Simulation
roslaunch urdf_tutorial display.launch model:='$(find hurba_robot_arm)/urdf/robot_arm.urdf'
inertia calculation: https://scienceworld.wolfram.com/physics/MomentofInertiaCylinder.html
rostopic pub robot_arm/arm_controller/command trajectory_msgs/JointTrajectory '{joint_names:["First_joint","Third_joint","Fourth_joint","Fifth_joint","Sixth_joint","Gripper_Base_joint"],points:[{positions:[0.0,-0.2,0.3,0.0,0.3,0.0],time_from_start:[1,0]}]}'
open: rostopic pub robot_arm/gripper_controller/command trajectory_msgs/JointTrajectory '{joint_names:["Left_Finger_joint","Right_Finger_joint"],points:[{positions:[0.2,0.2],time_from_start:[1,0]}]}'
close: rostopic pub robot_arm/gripper_controller/command trajectory_msgs/JointTrajectory '{joint_names:["Left_Finger_joint","Right_Finger_joint"],points:[{positions:[-0.2,-0.2],time_from_start:[1,0]}]}'
rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller
PID tuning: rosrun rqt_reconfigure rqt_reconfigure