Cartesian Control and Inverse Kinematics for Robotic Arms

This project involved developing a node capable of performing Cartesian Control and Numerical Inverse Kinematics (IK) for robotic arms. The project required working with the UR5 and Franka Panda robotic arms in a simulated environment using ROS2. The main objectives were to achieve precise Cartesian control of the robot's end-effector and implement an effective IK solution.

Key Features:
- Cartesian Control: Implemented a system to receive Cartesian control commands and compute the necessary joint velocities to achieve the desired end-effector position and orientation.
- Inverse Kinematics: Developed an IK solver to determine the joint positions required to place the end-effector at a specific pose relative to the robot's base.
- Simulation and Testing: Utilized Rviz for visualization and interactive markers to control and test the robots' movements in real-time.