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Erdal Pekel

Robotics and Automation

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Erdal Pekel

Robotics and Automation

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Erdal Pekel

Robotics and Automation

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September 22, 2022September 22, 2022C++, Collision Detection, Gazebo, MoveIt!, Robotics, ROS, Simulation, Software Development

Real-time collision detection for Panda with OpenCL

In this blog post I will present a collision detection algorithm specifically tailored for use with Panda. The algorithm was developed as […]

February 13, 2021February 13, 2021Robot Operating System, Robotics, ROS, Simulation, Web Development

Building a Web Interface for Visualizing Panda

In this blog post we are going to construct a minimalist web interface that shows information about the robot’s current state in […]

March 20, 2020February 13, 2021Gazebo, Robot Operating System, Robotics, ROS, Simulation

Automatic robot state initialization in Gazebo

In this post we implement a ROS node that automatically initializes the robot state in Gazebo to a valid configuration . This is achieved by means of a custom joint position controller and the controller switching mechanism provided by the controller manager.

February 29, 2020March 20, 2020Uncategorized

Improving Panda Gazebo integration with Position based Control

In this post we will alter the integration by replacing the effort controllers with joint position based controllers and thereby improve the stability of the robot during trajectory execution. We will also fix issues when starting the robot in Gazebo where it gets initialized with invalid joint angles by implementing a custom controller that commands the joints to fixed state.

July 14, 2019July 15, 2019Docker, IDE, ROS

ROS development with Visual Studio Code inside a Docker container

In this post I am going to share my workflow for using Visual Studio Code as a development environment for ROS within a Docker container.

March 12, 2019March 12, 2019C++, Gazebo, Robot Operating System, Robotics, ROS, Simulation, Software Development

Attach a box to the robot hand in Gazebo

In this post we are going to attach a simple box to the hand of Panda robot in the Gazebo simulation environment.

March 2, 2019July 14, 2019IDE, ROS

ROS development with Visual Studio Code

In this post I am going to share my workflow and best practices for using Visual Studio Code as a development environment for ROS.

March 1, 2019February 13, 2021C++, Gazebo, MoveIt!, Robot Operating System, Robotics, ROS, Simulation, Software Development

MoveIt! – Constraint-aware planning

In this post we are going to utilize MoveIt! in order to navigate Panda in a cluttered environment in the Gazebo simulation.

January 14, 2019March 12, 2019C++, Gazebo, MoveIt!, Robot Operating System, Robotics, ROS, Simulation, Software Development

Integrating FRANKA EMIKA Panda robot into Gazebo

In this post I will outline a step-by-step procedure to simulate the Panda robot in Gazebo and connect it to MoveIt! for motion planning.

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