Robot Arm

RobotArm

This project involves the development of a robotic arm using ROS2 (Robot Operating System 2). The robotic arm is simulated in Gazebo, controlled through ROS2 nodes, and equipped with various configuration and control capabilities.

Project Structure Link to heading

ros2_ws/
├── README.md               # Project documentation
├── build/                  # Build files and intermediate outputs
├── install/                # Installed ROS2 packages and dependencies
├── log/                    # Build and runtime logs
├── src/                    # Source code of the project
│   └── robot_arm/          # Main robotic arm package
│       ├── config/         # Configuration files (controllers, RViz settings)
│       ├── include/        # Header files
│       ├── launch/         # ROS2 launch files
│       ├── meshes/         # 3D STL models for the robotic arm
│       ├── scripts/        # Python scripts (e.g., motion control)
│       ├── urdf/           # URDF/XACRO files for the robot description
│       ├── worlds/         # Gazebo simulation worlds
│       └── src/            # C++ source files (if any)

Features Link to heading

  • URDF/XACRO: Descriptions for the robotic arm’s physical structure.
  • Control System: Configurable ROS2 control files for manipulating the robotic arm.
  • Simulation: Gazebo worlds and launch files for testing in virtual environments.
  • RViz Visualization: Visualization setup for robot interaction.
  • Python Script: Custom scripts for robotic arm motion.

Installation and Setup Link to heading

  1. Clone this repository into your ROS2 workspace:

    git clone https://github.com/Duks31/robot-arm ~/ros2_ws/src

  2. Build the workspace:

    cd ~/ros2_ws
colcon build

  3. Source the workspace:

    source install/setup.bash

Running the Simulations Link to heading

Launch the Robotic Arm in Gazebo Link to heading

ros2 launch robot_arm gazebo.launch.py

Control the Robotic Arm Link to heading

ros2 launch robot_arm controller.launch.py

Visualize in RViz Link to heading

ros2 launch robot_arm display.launch.py

Configuration Files Link to heading

  • Controller Configuration: config/controller.yaml defines joint controllers.
  • URDF/XACRO Models: Located in urdf/, these describe the robotic arm’s structure and dynamics.

Scripts Link to heading

  • scripts/move_arm.py: A Python script to command the robotic arm to specific positions.

Contributing Link to heading

Contributions are welcome

Note: The project is a work in progress.

[Err] [SystemLoader.cc:94] Failed to load system plugin [libign_ros2_control-system.so] : couldn't find shared library.