AR3 ROS2 Packages

Contains the ROS2 packages for the AR3 robot arm

Build

$ mkdir -p ~/ros2/ar3_ws/src
$ cd ~/ros2/ar3_ws/src
$ git clone https://github.com/RIF-Robotics/ar3_ros.git
$ cd ..
$ source /opt/ros/foxy/setup.bash
$ colcon build --symlink-install

Visualize AR3 in rviz

$ cd ~/ros2/ar3_ws
$ source ./install/setup.bash
$ ros2 launch ar3_bringup rviz.launch.py

Simple simulation of AR3

The use_fake_hardware flag uses a simple software loop back, which won't communicate with the real AR3 robot arm.

$ ros2 launch ar3_bringup ar3_base.launch.py use_fake_hardware:=True

Connect ROS2 to Physical AR3

$ ros2 launch ar3_bringup ar3_base.launch.py

MoveIt2 Control

See the ar3_moveit2_config package for how to use MoveIt2 to control the AR3.