https://github.com/efectn/ulurover_robot_arm

Robotical arm workspace of Ulurover using ROS2 Humble and Moveit2
https://github.com/efectn/ulurover_robot_arm

Last synced: about 1 year ago
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Robotical arm workspace of Ulurover using ROS2 Humble and Moveit2

• Host: GitHub
• URL: https://github.com/efectn/ulurover_robot_arm
• Owner: efectn
• License: wtfpl
• Created: 2025-02-03T16:44:32.000Z (over 1 year ago)
• Default Branch: main
• Last Pushed: 2025-02-16T13:54:01.000Z (over 1 year ago)
• Last Synced: 2025-02-16T14:49:24.957Z (over 1 year ago)
• Language: C++
• Size: 3.79 MB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# Ulurover Robotical Arm

5/6 DoF robotical arm implementation on ROS2 for Ulurover. This README clarify the progress of the arm.

## Packages

- **panda_description:** URDF export of robotical arm.

- **panda_moveit_config:** Launch files and controllers of robotical arm which was generated using moveit_servo.

- **moveit_servo:** Fork of moveit_servo package for ROS2 Humble.

- **panda_servo_control:** Joy/keyboard teleop controller for the robotical arm.

- **panda_hardware_interface:** An hardware interface to sent joint states to microcontroller using UART communication.

## To-Do List

- [x] Generate moveit_config for Panda robotical arm using Moveit2 setup assistant.

- [x] Be able to plan & execute robotical ar0m poses.

- [x] Be able to adjust poses/trajectories using C++.

- [x] Use moveit servo messages to manage robotical arm realtime.

    - [x] There will be three modes: IDLE, POSE, TRAJECTORY

    - [x] Keyboard control.

        - [x] Angular control.

    - [x] Joystick control. (works with DragonRise gamepad driver, needs some mapping stuff for other gamepads)

        - [x] Allow different configurations.

        - [x] Check for deadzone.

    - [x] The latency should be too low between the key press and Rviz simulation.

    - [x] Gripper control.

- [x] Test robo arm controls with obstacles.

- [ ] Gazebo simulations for the tasks.

- [x] Create hardware communication flow using UART with custom, simple protocol.

- [ ] Integrate real robotical arm of Ulurover to test with hardware.

- [ ] Integrate [IKFast](https://moveit.picknik.ai/humble/doc/examples/ikfast/ikfast_tutorial.html) kinematics solver plugin.

- [ ] Create PWM motor drivers for STM32.

- [ ] Manufacturing and testing of robotical arm.

    - [ ] Manufacturing part.

    - [ ] Test robotical arm axis simply using pots.

- [ ] Integrate servo messages to MCU to operate robotical arm same as simulation.

## Tasks for Arm

 Collaboration Mission is the main mission for robotical arm. Here are the tasks for Anatoilan Rover Challange:

- Disconnect cables and bring them back to the base.

- Press the numpad buttons using the gripper of the arm.

- Install the fuel pipe.

- Patch base using hook and loop tape.

- Brush using the gripper.

- Mount antenna.

- Weld the antenna (LOL).