This repository holds the scripts used for controlling a 6DoF arm over RF comms using UDP channels for streaming the joint_states of the hardware state interfaces and updateing a robot model in an RVIZ2 instance.
For controlling the arm, the joint_state_publisher_gui package is used. This streams the desired joint states and these are send over RF communications to the arm, where a PID script published effort commands to ros2 controllers.
- First clone the repository inside of your src folders in a working ros2 worksapce.
- Build and soruce the worksapce
colcon build && source install/setup.bash
- In the robotic arm launch the rover launch script
ros2 launch arm_control rover_arm_hardware.luanch.py
- At the base station launch the following launch script
ros2 launch arm_control base_station.launch.py
- Dont forget to change the UDP channels and addresses, the current repository has everything running on localhost.