Robot_Arm_ROS2

A ROS2 package designed for planning and executing motion trajectories of a robot arm in simulation, 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-moveit \
     ros-humble-ros2-controller \
     ros-humble-gazebo-ros2-control 

Installation

1- Clone the repo:

https://github.com/Mjd0001/Robot_Arm_ROS2.git

2- Build the ROS 2 workspace

cd ~/your_ws

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

Controlling the robot arm by Moveit and kinematics

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

ros2 launch arduinobot_description gazebo.launch.py

ros2 launch arduinobot_controller controller.launch.py

ros2 launch arduinobot_moveit moveit.launch.py