Make sure you are using robo-nd VM or have Ubuntu+ROS installed locally.

Check the version of gazebo installed on your system using a terminal:

$ gazebo --version

To run projects from this repository you need version 7.7.0+ If your gazebo version is not 7.7.0+, perform the update as follows:

$ sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
$ wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
$ sudo apt-get update
$ sudo apt-get install gazebo7

Once again check if the correct version was installed:

$ gazebo --version

If you do not have an active ROS workspace, you can create one by:

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/
$ catkin_make

Now that you have a workspace, clone or download this repo into the src directory of your workspace:

$ cd ~/catkin_ws/src
$ git clone https://github.com/Junzhuodu/Forward-Inverse-Kinematics.git

Now from a terminal window:

$ cd ~/catkin_ws
$ rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y

Build the project:

$ cd ~/catkin_ws
$ catkin_make

Add following to your .bashrc file

export GAZEBO_MODEL_PATH=~/catkin_ws/src/Forward-Inverse-Kinematics/kuka_arm/models

source ~/catkin_ws/devel/setup.bash

$ roslaunch kuka_arm forward_kinematics.launch 

If successful, you should see:

You can use tf_echo command on ROS to easily obtain the transform between parent and child links from the TF display on the left side panel.

$ rosrun tf tf_echo [reference frame] [target frame] 

Open another terminal window and type:

$ rosrun tf tf_echo base_link gripper_link

You can use the tf_echo command to obtain the orientation and position of the end-effector.

As for how to create forward kinematics and inverse kinematics for KR210, you can read the writeup.md file.

After you finsh your forward kinematics section, you can run Calculate_FK.py to verify that each individual transform is correct.

$ python Calculate_FK.py

After you finish your inverse kinematics section, you can run Calculate_IK.py to check your inverse calculations.

$ python Calculate_IK.py

$ cd ~/catkin_ws
$ rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y
$ cd ~/catkin_ws/src/Forward-Inverse-Kinematics/kuka_arm/scripts
$ sudo chmod +x target_spawn.py
$ sudo chmod +x IK_server.py
$ sudo chmod +x safe_spawner.sh

Build the project:

$ cd ~/catkin_ws
$ catkin_make

Launch the project:

$ cd ~/catkin_ws/src/Forward-Inverse-Kinematics/kuka_arm/scripts
$ ./safe_spawner.sh