ROS-Control, 6DOF robot arm.
Hello. I have just gotten an extracurricular project from my teacher, to set up ROS for a 6DOF robot arm.
the arm looks like this .
This robot has an STM32-controller, which takes joint position commands, for each joint (6 total). The controller then actuates the joints to the given positions. These commands are written in "g-code". A Typical command would be "J0=30 J1= 60 J2= 20". I have the URDF files for this robot available.
My end goal is to set up move-it with this robot, so that i can do more and experiment with other ros-packages. The robot has no encoders and must be initiated from a given starting position. If anyone has any advice at all its greatly appreciated.
How would I go about integrating ros? Does anyone have any experience or advice about where to start? I have some ideas about what to look for, but im sure theres people out there with experience and im not about re-inventing the wheel.
Im guessing first step would be to make a serial ROS connection? then look into ROS Control? I have a some experience with ROS, but not with something this low-level, i guess? I think ill be using ros kinetic, but thats not wholly important to me.
Sorry I don't have a super detailed answer for you, but this repo may be a good start if you want to work in ros2: https://github.com/tylerjw/mycobot It has a myCobot arm setup with a new ros2_control driver and MoveIt2.