Welding Arm with Aubo I3

This project implements a Circular Path Planner for the Aubo I3 Robot Arm, using ROS 1 Noetic and MoveIt for motion planning and execution.

Clone The Repo

git clone --recurse-submodules https://github.com/Lexciese/welding-arm-aubo-i3.git

Requirements

• Ubuntu 20.04
• ROS 1 Noetic
• MoveIt
• Python 3 If you are using Windows 10/11, you can setup WSL with Ubuntu 20.04

Dependencies

Install ROS Noetic

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

sudo apt install curl

curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

sudo apt update && sudo apt install ros-noetic-desktop-full

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc

source ~/.bashrc

Install MoveIt:

sudo apt install ros-noetic-moveit

Install required Python packages:

pip3 install numpy scipy

Install additional ROS dependencies:

sudo apt install ros-noetic-joint-state-publisher ros-noetic-joint-state-publisher-gui ros-noetic-gazebo-ros-pkgs ros-noetic-gazebo-ros-control ros-noetic-ros-controllers ros-noetic-controller-manager ros-noetic-joint-trajectory-controller

Build the Workspace

cd welding-arm-aubo-i3

catkin_make

Run

Open 2 terminal

terminal 1:

source devel/setup.bash

roslaunch aubo_i3_moveit_config demo.launch

terminal 2:

source devel/setup.bash

rosrun cornerfolk planner6.py