{"id":25002567,"url":"https://github.com/efectn/ulurover_robot_arm","last_synced_at":"2025-03-29T21:15:03.102Z","repository":{"id":275621258,"uuid":"926661737","full_name":"efectn/ulurover_robot_arm","owner":"efectn","description":"Robotical arm workspace of Ulurover using ROS2 Humble and Moveit2","archived":false,"fork":false,"pushed_at":"2025-02-16T13:54:01.000Z","size":3971,"stargazers_count":0,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"main","last_synced_at":"2025-02-16T14:49:24.957Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"wtfpl","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/efectn.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2025-02-03T16:44:32.000Z","updated_at":"2025-02-16T13:54:05.000Z","dependencies_parsed_at":null,"dependency_job_id":"ddb2ceaa-f9d8-404b-a3e0-96f5f8a124a9","html_url":"https://github.com/efectn/ulurover_robot_arm","commit_stats":null,"previous_names":["efectn/ulurover_robot_arm"],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/efectn%2Fulurover_robot_arm","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/efectn%2Fulurover_robot_arm/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/efectn%2Fulurover_robot_arm/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/efectn%2Fulurover_robot_arm/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/efectn","download_url":"https://codeload.github.com/efectn/ulurover_robot_arm/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":246243548,"owners_count":20746311,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2025-02-04T21:53:02.074Z","updated_at":"2025-03-29T21:15:03.097Z","avatar_url":"https://github.com/efectn.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Ulurover Robotical Arm\n\n5/6 DoF robotical arm implementation on ROS2 for Ulurover. This README clarify the progress of the arm.\n\n## Packages\n\n- **panda_description:** URDF export of robotical arm.\n- **panda_moveit_config:** Launch files and controllers of robotical arm which was generated using moveit_servo.\n- **moveit_servo:** Fork of moveit_servo package for ROS2 Humble.\n- **panda_servo_control:** Joy/keyboard teleop controller for the robotical arm.\n- **panda_hardware_interface:** An hardware interface to sent joint states to microcontroller using UART communication.\n\n## To-Do List\n\n- [x] Generate moveit_config for Panda robotical arm using Moveit2 setup assistant.\n- [x] Be able to plan \u0026 execute robotical ar0m poses.\n- [x] Be able to adjust poses/trajectories using C++.\n- [x] Use moveit servo messages to manage robotical arm realtime.\n    - [x] There will be three modes: IDLE, POSE, TRAJECTORY\n    - [x] Keyboard control.\n        - [x] Angular control.\n    - [x] Joystick control. (works with DragonRise gamepad driver, needs some mapping stuff for other gamepads)\n        - [x] Allow different configurations.\n        - [x] Check for deadzone.\n    - [x] The latency should be too low between the key press and Rviz simulation.\n    - [x] Gripper control.\n- [x] Test robo arm controls with obstacles.\n- [ ] Gazebo simulations for the tasks.\n- [x] Create hardware communication flow using UART with custom, simple protocol.\n- [ ] Integrate real robotical arm of Ulurover to test with hardware.\n- [ ] Integrate [IKFast](https://moveit.picknik.ai/humble/doc/examples/ikfast/ikfast_tutorial.html) kinematics solver plugin.\n- [ ] Create PWM motor drivers for STM32.\n- [ ] Manufacturing and testing of robotical arm.\n    - [ ] Manufacturing part.\n    - [ ] Test robotical arm axis simply using pots.\n- [ ] Integrate servo messages to MCU to operate robotical arm same as simulation.\n\n## Tasks for Arm\n\n Collaboration Mission is the main mission for robotical arm. Here are the tasks for Anatoilan Rover Challange:\n\n- Disconnect cables and bring them back to the base.\n- Press the numpad buttons using the gripper of the arm.\n- Install the fuel pipe.\n- Patch base using hook and loop tape.\n- Brush using the gripper.\n- Mount antenna.\n- Weld the antenna (LOL).\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fefectn%2Fulurover_robot_arm","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fefectn%2Fulurover_robot_arm","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fefectn%2Fulurover_robot_arm/lists"}