Course_Controllers_Project.ipynb

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   "source": [
    "# ROS Control MicroCourse"
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   "source": [
    "## Chapter 4: Project"
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   "source": [
    "<p style=\"background:green;color:white;\">SUMMARY</p>"
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   "source": [
    "Estimated time to completion: <b>2 hours</b>"
   ]
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   "source": [
    "<p style=\"background:green;color:white;\">END OF SUMMARY</p>"
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   "source": [
    "This last unit is meant to put together all the knowledge you've gained during this course. You will do this by doing a project, which will be based on the UR5 simulation. Using this simulation, you will have to practice everything you've learned so far."
   ]
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   "source": [
    "The project will be divided in four parts. In order to complete it, just follow the steps tht will be described below. Are you ready? Then, let's go!"
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   "source": [
    "### 1. Examine the simulation"
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   "source": [
    "First of all, you will have to have a look at some of the key files that define the simulated robot, and that you know will contain some useful information for you.\n",
    "\n",
    "Keep in mind, though, that you can't modify the URDF files because they are already launched. You just have to dig into them to extract all the information that you can. For instance, information about the name of the joints or what type of joints the robot is using."
   ]
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   "source": [
    "As an early hint, you will find all the information you need in the <i><b>ur_description</b></i> package."
   ]
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   "source": [
    "### 2. Build the control package"
   ]
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   "source": [
    "Once you have all the information you need from the simulation, you can proceed to creating the control package just as you saw in Chapter 2 of this course, but keeping in mind the particulars of this simulation."
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   "metadata": {},
   "source": [
    "### 3. Test your package"
   ]
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   "metadata": {},
   "source": [
    "As you saw in Chapter 2, test to make sure that your control package works correctly, and that you can  control the joints of the UR5 robot. For instance, you should be able to move the joints by publishing in their <i><b>command</b></i> topic."
   ]
  },
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   "metadata": {},
   "source": [
    "### 4. Create a controller"
   ]
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  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Once everything is working, and you are able to properly control the robot in the simulation, you can try to build a custom controller!"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### 5. Congratulations! You completed the course!"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "So, that's it! You have completed 100% of the course! But... what could you do now? If you want to know what you can do after finishing this course, have a look at the next unit!"
   ]
  }
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