Arduino-Robot-Arm-Installation-on-ROS Noetic

Installing and configuring robot arm package on ROS Noetic

Description

After installing ROS in Ubuntu you need these steps to install arm package

• Ubuntu version: 20.04.4

• ROS version: Noetic

Create a workspase with Catkin

 source /opt/ros/noetic/setup.bash
 mkdir -p ~/catkin_ws/src
 cd ~/catkin_ws/ 
 catkin_make
 source devel/setup.bash

Now your ROS workspace is ready to have packages installed in it

Installing Arduino Robot Arm Package

1. These commands will add the ardunino robot arm package to the src folder

 cd ~/catkin_ws/src/
 sudo apt install git
 git clone https://github.com/smart-methods/arduino_robot_arm

2. These commands will install all the necessary dependencies

 cd ~/catkin_ws
 rosdep install --from-paths src --ignore-src -r -y
 sudo apt-get install ros-noetic-moveit
 sudo apt-get install ros-noetic-joint-state-publisher ros-noetic-joint-state-publisher-gui
 sudo apt-get install ros-noetic-gazebo-ros-control joint-state-publisher
 sudo apt-get install ros-noetic-ros-controllers ros-noetic-ros-control

3. This final command will compile all packages in your src folder

 catkin_make

4.Go to bashrc folder and do the following on terminal

gedit ~/.bashrc

It will open file at the end of the file add the follwing line:

source /home/**username**/catkin_ws/devel/setup.bash

make sure to switche username with your local username

After that save it and back to terminal and type

source ~/.bashrc

Configuring Arduino with ROS

1. Install Arduino IDE in Ubuntu
2. After unzipping the folder run the command $ sudo ./install.sh
3. Launch the Arduino IDE
4. Install the arduino package and ros library

Simulation

Controlling the robot arm by joint_state_publisher

roslaunch robot_arm_pkg check_motors.launch

You can also connect with hardware by running

rosrun rosserial_python serial_node.py _port:=/dev/ttyUSB0 _baud:=115200

Controlling the robot arm by gazebo

roslaunch robot_arm_pkg check_motors_gazebo.launch

You can also connect with hardware by running

rosrun rosserial_python serial_node.py _port:=/dev/ttyUSB0 _baud:=115200

Controlling the robot arm by movelet

roslaunch moveit_pkg demo.launch

You can also connect with hardware by running

rosrun rosserial_python serial_node.py _port:=/dev/ttyUSB0 _baud:=115200