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# The phantom revenge

Fight results:

<details><summary>Open on your own risks</summary>

[![Screenshot-from-2022-04-13-16-09-08.png](https://i.postimg.cc/zGp4zkFt/Screenshot-from-2022-04-13-16-09-08.png)](https://postimg.cc/CRBcJktk)

Robot wins!

[![Screenshot-from-2022-04-13-16-09-16.png](https://i.postimg.cc/1zjT65TD/Screenshot-from-2022-04-13-16-09-16.png)](https://postimg.cc/NyRpvYQ0)

</details>

## Forward kinematics

This repo won't teach you how to get the DH parameters, to do that I higly recommend the 3rd chaptor of Spong. Nevertheless, I will let some pictures that are useful.

<details><summary>Phantom X Mashmellows</summary>

 <img src="https://i.postimg.cc/Mpjz3msp/Mediciones.jpg" width="180px" alt="measures" />

</details>

**Lazyness alert**: Before unfold the picture, try yourself. It's the best way to learn.

<details><summary>Phantom X StdDH Frames</summary>

 <img src="https://i.postimg.cc/fLMZLnMV/phantomx.jpg" width="450px" alt="frames" />

</details>

## The future (?) - PX 100

In the fortunate case you are working with the PX100 things maybe a little bit different. I found [mr. Chitiva's repo](https://github.com/cychitivav/px100_description) quite good.

**Lazyness alert no. 2**: Use the repo as a guide, don't steal his code, try first.

## Requirements

## The all mighty RTB for python

We have used the Matlab RTB, but you know Matlab, so lets install the python version.

Open a terminal and run:

```sh
sudo apt install python3-pip
pip3 install roboticstoolbox-python
pip3 install sympy
```

Check the following sources:
 - [**RTB Python repo**](https://github.com/petercorke/robotics-toolbox-python)
 - [**RTB Python help**](https://petercorke.github.io/robotics-toolbox-python/index.html) 
 - [**Spatial math repo**](https://github.com/petercorke/spatialmath-python)
 - [**Spatial math help**](https://petercorke.github.io/spatialmath-python/)

Definitely *Peter Corke is so pro*, I printed a poster of him :laughing:.

## Python RTB usage

Let's create a python script:

```python
import roboticstoolbox as rtb
from spatialmath import SE3

robot = rtb.DHRobot([rtb.RevoluteDH(a=1),rtb.RevoluteDH(a=1)],name="2R")
print(robot)
robot.plot([0.75,0.26])
input()
```

[![Screenshot-from-2022-04-03-00-57-57.png](https://i.postimg.cc/4dbmg5Qz/Screenshot-from-2022-04-03-00-57-57.png)](https://postimg.cc/phr2QK7T)

Run the *px_rtb.py* script and check if you obtain the a real PhantomX model.

**Activity:** Create a notebook and follow the same pipeline presented in *px_rtb.py*. What does happen with the figures? :grimacing:

## Moveit

Moveit! is a sort of sourcery that allows you to plan your robot's motion. It relies mainly on the OMPL, which is a full library for motion planning.

In the case you do not have moveit installed:

```sh
sudo apt install ros-noetic-moveit
```

**Note:** By the time I wrote this, the last stable version of moveit was 1.1.9.

Because our main focus is on robotics we will have a short taste of what Moveit is capable of, so first clone [*px_text_moveit*](https://github.com/felipeg17/px_test_moveit.git) on your *catkin_ws* and compile it.

```sh 
cd ~/catkin_ws/src
git clone https://github.com/felipeg17/px_test_moveit.git
catkin build px_test_moveit
```

Remember to keep *px_robot* updated, so give it a pull. Go to the *px_robot* folder and type:

```sh
git pull origin master
```

I added a couple of interesting new files, the most important *px_moveit_v2.py*, it should be located on *../scripts*.

Source everything and run:

```sh 
roslaunch px_robot px_moveit.launch 
```

If everything goes well, you shall see something like this:
[![Screenshot-from-2022-04-13-15-41-56.png](https://i.postimg.cc/x1dnyBX3/Screenshot-from-2022-04-13-15-41-56.png)](https://postimg.cc/7fjFqsM5)

[![Screenshot-from-2022-04-13-15-42-09.png](https://i.postimg.cc/0yHxtZmR/Screenshot-from-2022-04-13-15-42-09.png)](https://postimg.cc/G4YZtFqq)

Then go to the *px_robot/scripts* and run:

```sh
python px_moveit_v2.py 
```

[![Screencast-from-13-04-22-15-52-02.gif](https://i.postimg.cc/MK8tfjsy/Screencast-from-13-04-22-15-52-02.gif)](https://postimg.cc/vD35pDwB)

**Note:** Do not dare bitching about the quality. It was for speed purposes.

If you want to learn more about moveit y recommend the following resources:
 - [**Getting started with moveit**](http://docs.ros.org/en/kinetic/api/moveit_tutorials/html/doc/getting_started/getting_started.html)
 - [**Move commander tutorial**](http://docs.ros.org/en/kinetic/api/moveit_tutorials/html/doc/move_group_python_interface/move_group_python_interface_tutorial.html)
 - [**Tuts**](https://moveit.picknik.ai/galactic/doc/tutorials/tutorials.html)

**Notice:** Also Realpe has a lot of experience on moveit, go and check out his [repos](https://github.com/GitSRealpe). Realpe and Fajardo have been working with me, if you want to have a portfolio like them, consider joining to my research team, it is a limited offer, once I complete the team, people will beg for being part of this project.

[![Screenshot-from-2022-04-13-16-30-51.png](https://i.postimg.cc/xCJ0bdfz/Screenshot-from-2022-04-13-16-30-51.png)](https://postimg.cc/ygKqMsS1)

------------

`<Lab guide>` : https://drive.google.com/file/d/1RGBmvqbng3HATgVkgL6y5xWPqr2GDuzn/view?usp=sharing

------------

`<Recorded class:>` : 
https://drive.google.com/file/d/12lFjGgYykycmhP98ZCwVEyhBpqWARUnh/view?usp=sharing

------------

**Acknowledgments:**

- Jose Manuel Fajardo
 - Sebastian Realpe 
 - Cristian Chitiva (Well crafted repo for the PX100)
 - William Sierra (Thanks for the pics)
 - Brian Vasquez (Thanks for the pics)

This repo has taken a lot of effort, so consider to leave a star, [follow me](https://felipeg17.github.io/index.html), and if you feel generous I have [Paypal](https://paypal.me/fegonzalez17?country.x=CO&locale.x=en_US) (just kidding).

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