ros_braccio_moveit

ROS MoveIt! configuration files for Arduino.ORG's Braccio Arm. This package has been tested on a Braccio Arm Shield v4 connected to a Teensy 3.1. The binary STL files and URDF can be found here

Running the demo

1. Download the packages

cd ~/catkin_ws/src
git clone https://github.com/grassjelly/ros_braccio_urdf.git
git clone https://github.com/grassjelly/ros_braccio_moveit.git
sudo apt-get install ros-indigo-moveit
cd ..
catkin_make

2. Install PlatformIO:

sudo apt-get install python-setuptools 
sudo easy_install pip
sudo pip install -U platformio
sudo rm -rf ~/.platformio/

3. Define Braccio's serial port on PlatformIO's .ini file:

• Go to the firmware and edit the ini file:

  roscd ros_braccio_moveit/teensy
  nano platformio.ini
  

• Define Braccio's serial port:

  upload_port = /dev/ttyACM0
  

4. Upload the codes:

  platformio run --target upload

5. Define Braccio's serial port on the launch file:

• Go to launch folder and edit demo.launch:

  roscd ros_braccio_moveit/launch
  nano demo.launch
  

• Define Braccio's serial port:

  <param name="port" value="/dev/ttyACM0" />
  

6. Run the demo:

 roslaunch ros_braccio_moveit demo.launch

7. Planning and execution

• Click and drag the arrow markers towards your target pose.
• Go to "Planning" tab and click "Plan and Execute".