Erdal's personal blog

Welcome to my software development and robotics related blog

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.

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.

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.

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.

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.

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.

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.