Arm

This repository contains the simulation of a custom robotic arm. This was done in order to gain experience with some nice features of ROS: robot description using urdf and xacro, simulation in Gazebo, joint-space control based on the inverse dynamic model of the arm with help of the KDL library, trajectory control with ROS Control, and finally inverse kinematics and planning with MoveIt!.

Usage

Install dependencies:

rosdep install --from-paths src --ignore-src -r -y

Build catkin workspace:

catkin_make

Init the environment:

source devel/setup.sh

Launch the gazebo simulation:

roslaunch arm_gazebo empty_world.launch

Launch the controller along with RViz:

roslaunch arm_control rviz.launch

Launch the MoveIt! move group:

roslaunch arm_control moveit.launch

You can now use the MoveIt! plugin in Rviz to control the arm.

Gazebo

RViz with the MoveIt! plugin