ROS2 Humble Arm Control Package

This repository holds the scripts used for controlling a 6DoF arm over RF comms using UDP channels for streaming the joint_states of the hardware state interfaces and updateing a robot model in an RVIZ2 instance.

Control

For controlling the arm, the joint_state_publisher_gui package is used. This streams the desired joint states and these are send over RF communications to the arm, where a PID script published effort commands to ros2 controllers.

Control System Flow Diagram

Hardware Set Up

Launch

1. First clone the repository inside of your src folders in a working ros2 worksapce.
2. Build and soruce the worksapce

colcon build && source install/setup.bash

3. In the robotic arm launch the rover launch script

ros2 launch arm_control rover_arm_hardware.luanch.py

4. At the base station launch the following launch script

ros2 launch arm_control base_station.launch.py

Extra instruction

• Dont forget to change the UDP channels and addresses, the current repository has everything running on localhost.