https://github.com/jafarabdi/ros2_so_arm100

ROS 2 packages for https://github.com/TheRobotStudio/SO-ARM100
https://github.com/jafarabdi/ros2_so_arm100

Last synced: 3 days ago
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ROS 2 packages for https://github.com/TheRobotStudio/SO-ARM100

• Host: GitHub
• URL: https://github.com/jafarabdi/ros2_so_arm100
• Owner: JafarAbdi
• Created: 2024-11-02T14:11:12.000Z (3 months ago)
• Default Branch: main
• Last Pushed: 2024-11-03T17:29:46.000Z (3 months ago)
• Last Synced: 2024-11-15T18:27:08.100Z (2 months ago)
• Language: Python
• Homepage:
• Size: 25.4 KB
• Stars: 3
• Watchers: 1
• Forks: 0
• Open Issues: 1
• Metadata Files:
  • Readme: README.md

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README

        
# ROS2 SO-ARM100

Description: ROS 2 description package for https://github.com/TheRobotStudio/SO-ARM100

https://github.com/user-attachments/assets/5655b956-5536-4143-9707-17cad5d1cbc8

https://github.com/user-attachments/assets/36ccaca0-82dd-4206-a4dd-953867e89a20

## Usage

To launch the controllers run:

```bash

ros2 launch so_arm100_description controllers_bringup.launch.py hardware_type:=mock_components # hardware_type:=real for running with hardware

```

To launch rviz run:

```bash

ros2 run rviz2 rviz2 -d $(ros2 pkg prefix --share so_arm100_description)/rviz/config.rviz

```

To launch rviz with moveit's Motion Planning plugin:

```bash

ros2 launch so_arm100_moveit_config moveit_rviz.launch.py

```

To launch move_group node (without rviz):

```bash

ros2 launch so_arm100_moveit_config move_group.launch.py

```

To test the joint_trajectory_controller run:

```bash

ros2 run rqt_joint_trajectory_controller rqt_joint_trajectory_controller

```

## MoveIt Setup Assistant

To regenerate/modify the config files using moveit_setup_assistant

```

ros2 run moveit_setup_assistant moveit_setup_assistant --config_pkg ~/PATH/ros2_so_arm100/so_arm100_moveit_config

```