Robot_Arm_ROS2

A ROS2 package designed for planning and executing motion trajectories of a robot arm in simulation and real-life, utilizing the Moveit plugin for applying kinematics.

These packages were tested under ROS2 Humble and Ubuntu 22.04 .

Dependencies

make sure you installed all these packages:

sudo apt-get update && sudo apt-get install -y \
     ros-humble-joint-state-publisher-gui \
     ros-humble-gazebo-ros \
     ros-humble-xacro \
     ros-humble-ros2-control \
     ros-humble-ros2-controllers \
     ros-humble-joint-state-broadcaster \
     ros-humble-joint-trajectory-controller \
     ros-humble-controller-manager
     ros-humble-moveit \
     ros-humble-gazebo-ros2-control

Installation

1- Clone the repo in src folder of your workspace:

cd ~/ros2_ws/src

https://github.com/smart-methods/Robot_Arm_ROS2.git

2- Install all dependencies, then build

colcon build

3- Source the project

. install/setup.bash

Usage

Controlling the robot arm by joint_state_publisher

ros2 launch arduinobot_description display.launch.xml

You can also connect with hardware by running on another terminal:

ros2 run arduinobot_description joint_trajectory.py --ros-args -p port:=/dev/ttyUSB0

Make sure the port is enabled

sudo chmod 777 /dev/ttyUSB0

Simulation

ros2 launch arduinobot_description display.launch.xml

ros2 launch arduinobot_description simulation.launch.py 

ros2 run arduinobot_description joint_trajectory.py

Controlling the robot arm by Moveit and kinematics

ros2 launch  arduinobot_mc demo.launch.py 

You can also connect with hardware by running on another terminal:

ros2 run arduinobot_description joint_trajectory.py --ros-args -p port:=/dev/ttyUSB0

Make sure the port is enabled

sudo chmod 777 /dev/ttyUSB0

Simulation

Run the following commands, each command in a separate terminal window:

ros2 launch arduinobot_description simulation.launch.py 

ros2 launch  arduinobot_mc demo.launch.py