Skeleton Code for VB Manip class
vbmbot.xacro - Robot description file for 2 link planar manipulator
vbmbot.gazebo - References for xacro
materials.xacro - common gazebo material descriptions
Nodes - vbmbot_joint_controller.py - launches with vb_joint_vel_and_pos_pub.launch
Run this project by launching the following -
roslaunch vision_based_manipulation vb_publish_joint_pose_and_vel.launch
-- When no de is initialized, the robot is in home position as send by the launch file. the position controller publishes a target joint position that moves the arm from home position, then ros switches controller to publish random joint velocity to move the arm randomly