6DOF Servo Arm on OpenCR with Micro ROS

asked 2022-06-11 22:28:10 -0600

eecue gravatar image

I bought a cheap aliexpress 6 DoF servo powered arm kit. I have it working with the OpenCR flashed with Micro-ROS, connected to a Jetson Nano and I’m able to publish to a topic and move it based on the servo angle I send for each joint. Is this the right path? Should I be doing more on the OpenCR? Right now I’m just sending a single integer value and moving all the joints at once as a PoC but should I instead send an array or make a topic for each joint? I looked through the Open Manipulator code but couldn’t find the parts that handled the actual low level joint control on the OpenCR.

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