robotic-arm-controller

Warning

This project is a work in progress. Both the codebase and the documentation are currently incomplete.

This repository contains a general controller for robotic arms that can perform manual or automatic control and is capable of controlling both real and simulated robots.

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Dependencies

you should have all these sourced:

• ROS 2 Jazzy

• MoveIt 2 built from source How to build from source Clone all the following in the same workspace as MoveIt:

• RViz Visual Tools here

  Note: Clone the ROS 2 branch with git clone -b ros2 <rviz_visual_tools_URL>

• MoveIt Task Constructor here

• MoveIt 2 Messages here

  Note: Clone the ROS 2 branch as above.

• MoveIt Visual Tools here

• MoveIt Resources here

  Note: Clone the ROS 2 branch as above.

• ROS 2 Control (binary) How to install

Setup

Installation:

if you want to install it as desktop app:

chmod +x ./setup.sh
./setup.sh

Development:

if you want to develop or fast test it:

# In the directory that contains the repo
colcon build

Go to the folder teaching_pendant_simulator and run uv lock:

cd teaching_pendant_simulator
uv lock

Go back to the workspace folder and run:

chmod +x ./run_cur.sh
./run_cur.sh

Usage

This app simulates the real teaching pendant for robots. It uses the URDF and the MoveIt configuration package to obtain the robot's configuration. You can add sequential commands of straight lines, circles, pose-to-pose movements, and polylines (general curves defined by waypoints). You can bind a signal to a command or a whole task constructed from multiple commands. This signal can have various profiles and is published to a topic to simulate, for example, a welding torch or spray signal.