How to control steppers with Rviz/Moveit and Arduino?

asked 2020-03-12 12:10:29 -0500

Rosfan gravatar image

Hello, Im new to ROS and trying to control an opensource robot arm (https://github.com/b-adkins/thor_arm_...).

I can control all the movements connecting each stepper with arduino in the irl robot. I have been able to open my urdf in Rviz, and run a small python script to control its movement. This took me a lot of time.

I want to be able to create movement sequences and then send it to the arduino make the movement.

I found several tutorials, but they feel incomplete, for example, Idk how creating the myrobot_planning_execution.launch is useful in this situation from this tutorial. ( https://www.linkedin.com/pulse/ros-mo... ). This other one is called "ROS & Arduino - Control Stepper motors" ( https://github.com/karadalex/ros_step... ) but idk how to unite it to moveit.

Thank you in advantage.

My info is: ROS melodic kernel: 5.3.0-40-generic Distributor ID: Ubuntu Description: Ubuntu 18.04.4 LTS Release: 18.04 Codename: bionic

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