SARVESH_PATKI_MARIO_ASSIGNMENT

this repo includes all the SRA_MARIO assignments completed by me.

• Now Let us have a look at the MARIO Assignments completed by me.

1. TURTLESIM ASSIGNMENT 🐢:

• We were asked to draw a circle and a spiral shape using ROS and Turtlesim.Following is the video of the output of the circle(code is submitted separately in the same repo..)

WhatsApp.Video.2023-05-31.at.6.11.25.PM.mp4

• The next was the spiral drawing task(code is submitted separately

WhatsApp.Video.2023-05-29.at.6.07.14.PM.1.mp4

That was all about Turtlesim Now let's move to next Assignment:

2. FORWARD KINEMATICS ASSIGNMENT ➕➖➗✖️ :

• Thereare two assignments as far as Forward Kinematics is concerned:
  1. DH Parameters : It's PDF is seperately uploaded in the same repository.
  2. Numericals : In the Following Way the Numericals are Solved:

Questions based on 2D Rotations

Q.1. If A (2, 3) is rotated in the clockwise direction by 90 degrees, what are the coordinate values?

Solution:

Given : The point A=(2,3)=(x,y)

• Direction = Clockwise i.e Angle Theta = -Theta = -90 degrees
• Thus using the Forward Kinematics Formula for 2D rotations :
• New coordinates come out to be : (3,-2) __________(ANSWER)

Q.2. If B (1, -2) is rotated in the counterclockwise direction by 60 degrees, what are the coordinate values?

Solution:

Given : The point A=(1,-2)=(x,y)

• Direction = Counter Clockwise i.e Angle Theta = +Theta = +60
• Thus using the Forward Kinematics Formula for 2D rotations :
• New coordinates come out to be : (2.23,-0.13) __________(ANSWER)

Questions based on 3D Rotations

Q.1. If A (5, 2, 6) is rotated in the counterclockwise direction by 180 degrees about the x-axis, what are the coordinate values?

Solution

Given : The point A=(5,2,6)=(x,y,z)

• Direction = Counter Clockwise i.e Angle Theta = +Theta = +180
• Thus using the Forward Kinematics Formula for 3D rotations :
• New coordinates come out to be : (5,-2,-6) __________(ANSWER)

Q.2. If B (1, 4, -3) is rotated in the counterclockwise direction by 180 degrees about the x-axis, and then in clockwise direction by 90 degrees in y-axis, what are the coordinate values? Given : The point A=(1,4,-3)=(x,y,z)

• Here we undergo 2 rotations .1st is along x direction.:
• Direction = Counter Clockwise i.e Angle Theta(x) = +Theta(x) = +180
• Thus using the Forward Kinematics Formula for 3D rotations :
• New coordinates after rotation in x come out to be : (1,-4,-3).
• Now we undergo a rotation in Y direction :
• Direction = Clockwise i.e Angle Theta(x) = -Theta(x) = -90
• Thus using the Forward Kinematics Formula for 3D rotations :
• New coordinates come out to be : (-3,-4,1) __________(ANSWER)

Have a look at how we actually did it :

3. DH Parameters Assignment :

Regarding this Assignment : A separate PDF has been upoaded for this in the same repo

4. GAZEBO BOT ORIENTATION ASSIGNMENT 🦾 :

A separate PDF of thre same hass been Uploaded in the same repo.

5. CHATTER_LISTENER ASSIGNMENT 💻:

The Problem statement given was as follows:

• Q. Create two publishers which one publisher, that publishes two numbers and a symbol of mathematical operation which are provided by you on a topic, to another publisher and it in return should publish multiplication, division, addition, and subtraction of the two numbers to the different topic, and finally create a subscriber that displays the final output of the mathematical operation
• SOLUTION :
• The code of the same is uploaded in the scripts . And thus the Output of the Following Recorded was as follows:

WhatsApp.Video.2023-05-31.at.2.11.15.PM.1.mp4

• Here we are running a Publisher code which is giving the numbers '5' & '10' & a sign '+' as input.

• Another code operating as both a subscriber of the above code as well as an another Publisher which Publishes the Mathematical Operator Concerned to that of the sign published by the First Publisher.

• The third code is that of the subscriber which prints the Output (of the mathematical operation) on the Screen.

Thus in this way , we have completed all the M.A.R.I.O.Assignments 😄.

THANK YOU 🙏🏼