Question

I have modified, modeled, and physically built a 5DOF arm with the help of this GitHub repository:

Jmichieils

I have successfully executed Moveit Planning and Gazebo simulation.

I now would like to substitute my Gazebo model for the real thing.

My Rosserial libraries are setup on my Ubuntu 16.04 Arduino IDE, and I am running Kinetic.

I am really just struggling to find a simple example of what my Arduino Code should look like.

Can this be done with one Arduino sketch?
What changes do I need to make to my launch files to not launch in gazebo but only the real robot?

(All of the required files are in the GitHub: arm_control demo.launch...)

Thanks

Asked by matthewmarkey on 2020-05-29 05:22:03 UTC

Answer 1

Hi,

if you seek to control your real robot arm by using Moveit, there are a couple of steps you need to do.

I tried this launch file

roslaunch arm_moveit demo.launch

then print the /joint_states topic

rostopic echo /joint_states

if you control the robot in Rviz by using the planning tab, you will see some changes in the content of this topic

Here is an Arduino code that subscribes to /joint_states topic and controls 5 servo motors, you need to modify according to your robot arm and the type of it motors

https://github.com/smart-methods/arduino_robot_arm_gripper/blob/main/arduino_code/arduino_code.ino

After modifying the code and uploading it to Arduino board, you can control the real robot arm by launcing

roslaunch arm_moveit demo.launch
rosrun rosserial_python serial_node.py _port:=/dev/ttyUSB0 _baud:=115200

Asked by Moneera Banjar on 2020-11-16 03:09:53 UTC

Connecting Action server, Moveit, and a 5 DOF robot arm

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