Tool Dynamics¶
The tool dynamics package supports the visualization and foresee the outcome of the toolpath before running the robots physically.
The tool dynamics package performs the following tasks:
Visualizes the end effector’s motion and simulates the resulting toolpath outcome
Provides a visualization of the end effector and predicts the outcome of the toolpath execution
Simulates the end effector’s trajectory to anticipate the toolpath results
The following packages/libraries from ROS2 and Moveit are as follows:
visualization_msgs
geometry_msgs
robot_model_loader
robot_state
tf2_ros
sensor_msgs
Other dependencies used in conjunction with the tool dynamics ROS2 package:
Eigen/Core
How to run the tool dynamics package: ros2 run tool_dynamics tool_dynamics_publisher