ROS for EEZYbotARM MK1 and MK2
This package was replaced by the following one and will be removed in the next cleaning.
- https://github.com/inaciose/ebamk1_description
- https://github.com/inaciose/ebamk2_description
- https://github.com/inaciose/rosarm_control
This repository is intended to contain software aimed at exploiting the eezybotarm robotic arms on ROS.
EEZYbotARM MK1 and MK2 are modeled after the ABB IRB460 industrial grade robotic arm.
Urdf file that allows viewing and interacting with the model in rviz.
The kinematic chain of the IRB460 is closed loop so in order to be visualized in RViz, the kinematic chain model must be converted to an equivalent group of open-loop chains. The joint angles from the open-loop equivalent chains will then be used back to control the visualized model in RViz in order for it to properly display the correct configurations given the joint angles
For the MK2 model I found that the conversion and the URDF is already done, and available at: https://github.com/HotBlackRobotics/ntbd For the MK1 model was done based in the MK2 urdf but with cylinders and boxes instead of meshes.
https://www.thingiverse.com/thing:1015238
https://www.instructables.com/id/EEZYbotARM/
http://www.eezyrobots.it/eba_mk1.html
https://www.thingiverse.com/thing:1454048
https://www.instructables.com/id/EEZYbotARM-Mk2-3D-Printed-Robot/
http://www.eezyrobots.it/eba_mk2.html
cd ~/catkin_ws/src
git clone https://github.com/inaciose/eezybotarm.git
catkin_make
Lançar visualização do EEZYbotARM MK1
roslaunch eezybotarm rviz1.launch
Lançar visualização do EEZYbotARM MK1
roslaunch eezybotarm rviz2.launch