Arduino-Robot-Arm-Version2-Installation-on-ROS

Installing and configuring arm version2 package robot on ROS

This repository will cover the steps taken to install a different version of the Arduino arm which is shown below. Unlike the previous Arm which was a complete a package and only required to install the package, this one was diffrent. This repistory is a continuation of the previous one and depends on it. To go to the previous arm installation Arduino-Robot-Arm-Installation-on-ROS

Installation

1. Download the required 3D modeling files (.stl)

There are 7 .stl files, The first 6 represent different parts of the Robot Arm with the the entire robot arm being the 7th. The 7th won't be used in this tutorial

2. Now the idea is that the Old Aruino Arm will be used as a base instead of starting from scratch. First things first backup the old Arm so that if anything goes wrong you can go back to the start

catkin_**workspace name** -> src -> arduni_robot_arm  

and copy the robot_arm_pkg file somewhere else

3. Then, go to

catkin_**workspace name** -> src -> arduni_robot_arm - > robot_arm_pkg -> meshes - > stl 

4. Delete all the files then add the 6 .stl files downloaded from step 1

5. Then, go to

catkin_**workspace name** -> src -> arduni_robot_arm - > robot_arm_pkg -> urdf 

6. Open the .urdf file using a txt editor and replace it's content with the following document.txt

7. Now you're done all that's left is to remake the catkin file and run Rviz. Open the cmd and input the following commands

cd catkin_*workspace name*
catkin_make
source /home/*user name*/catkin_*workspace name*/devel/setup.bash
roslaunch robot_arm_pkg check_motors.launch 

Change the workspace name and user name tags accordingly

8. And that's it you can now view the new robot Arm in Rviz and move it freely using the joint state publisher

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