FIVE-DOF-ROBOTIC-ARM

Installation

The package was made using ROS2 Humble

Dependencies

You need to have installed:

1. ros-xacro:

   sudo apt install ros-<ros2-distro>-xacro

2. ros-joint-state-publisher:

   sudo apt install ros-<ros2-distro>-joint-state-publisher-gui

3. gazebo-ros:

   sudo apt install ros-<ros2-distro>-gazebo-ros-pkgs

4. colcon:

   sudo apt install python3-colcon-common-extensions

🔨 Design

The design was made in fusion360 and used a fusion2urdf exporter to obtain the urdf files needed

🔨 How to build

To build the packages in this repository follow these steps:

1. cd into an existing or create a new workspace

   mkdir -p robotarm/src

2. clone this repository in the src folder of your workspace

   cd robotarm/src

   git clone https://github.com/odobot/fivedofarmzup_description.git

3. Naviage back to the workspace folder

   cd ../

4. build the workspace using the colcon build tool

   colcon build --symlink-install

5. source the setup.bash file

   source install/setup.bash

6. You can add the setup.bash file on the bashrc script file, just open the file and add it at end:

   gedit ~/.bashrc

   source ~/robotarm/install/setup.bash

🎥 Rviz

To view the urdf in rviz open 3 terminals:
On the first terminal (needs to the terminal you sourced your setup.bash file in) type:

  ros2 launch fivedofarmzup_description robot_description.launch.py

Second terminal

 rviz2

In rviz for the Fixed frame use base_link add RobotModel at the Displays under the robot model there is Description topic add /robot_description third terminal

 ros2 run joint_state_publisher_gui joint_state_publisher_gui

🎥 Gazebo

To launch your robot arm in gazebo, run:

 ros2 launch fivedofarmzup_description robot_gazebo.launch.py 

🎥 All in one

To launch rviz2, joint_state_publisher_gui and the robot all at once use the command:

 ros2 launch fivedofarmzup_description robot_sim.launch.py

Gazebo will be launched haven't added the needed code for the arm to be launched in it thus you can just close Gazebo if it opens.(will be adding the code soon)

Reference

https://wiki.ros.org/urdf/XML/joint