# 🤖 Arduinobot – A ROS2 Jazzy Based Educational Robot Platform

Arduinobot is a lightweight, modular, and fully ROS2-compatible robot platform designed for learning
robotics, motion planning, kinematics, and ROS2 fundamentals.  
This repository contains the complete stack — URDF, MoveIt2 configuration, Python/CPP nodes, custom
services, controllers, and utilities.

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# 🦾 Features

✅ ROS2 Jazzy native  
✅ URDF + SRDF robot model  
✅ MoveIt2 motion planning support (OMPL planners)  
✅ Custom ROS2 interfaces  
✅ C++ example nodes (pub/sub/services)  
✅ Python utility nodes  
✅ Controller support (ros2_control)  
✅ Fully modular and extendable  

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# 🚀 Getting Started

## ✅ 1. Clone the repository

```bash
git clone https://github.com/RRG2003/arduino_bot
cd arduino_bot

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✅ 2. Install required ROS2 packages

sudo apt update
sudo apt install ros-jazzy-desktop ros-jazzy-moveit ros-jazzy-ros2-control ros-jazzy-ros2-controllers
sudo apt install ros-jazzy-moveit-planners-ompl

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✅ 3. Build the workspace

colcon build
source install/setup.bash

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🤖 Robot Description

The robot model is defined in:

arduinobot_description/urdf/arduinobot.urdf.xacro

It includes:

• Base
• Virtual arm with 4 joints
• Gripper
• STL meshes

The semantic description (SRDF) defines:

• Groups: virtsual_arm, gripper
• Predefined poses
• Collision settings

Located in:

arduinobot_moveit/config/arduinobot.srdf

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📦 Custom ROS2 Interfaces

Package: arduinobot_msgs

✅ Services

• EulerToQuaternion.srv
• QuaternionToEuler.srv

Used by utility nodes for angle conversions.

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🧠 Python Utilities — arduinobot_utils

Includes:

• angle_conversions.py Converts Euler ⇆ Quaternion using custom services.

Run with:

ros2 run arduinobot_utils angle_conversions

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🧪 C++ Examples — arduinobot_cpp_examples

Includes:

✅ Publishers ✅ Subscribers ✅ Service clients/servers ✅ Action clients

Great for learning ROS2 fundamentals in C++.

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🦾 MoveIt2 Motion Planning – arduinobot_moveit

This package provides:

• MoveIt SRDF
• Kinematics config
• Joint limits
• Controllers
• OMPL planner configs
• RViz2 MotionPlanning setup

Launch with:

ros2 launch arduinobot_moveit demo.launch.py

This opens RViz with:

✅ Robot model ✅ MotionPlanning plugin ✅ OMPL planners (RRTConnect, PRM, etc.)

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🔧 ros2_control Configuration

The controllers are defined in:

arduinobot_controller/config/*.yaml

Launch your controller with:

ros2 launch arduinobot_controller controller.launch.py

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🧪 Testing Services

Example:

ros2 service call /euler_to_quaternion arduinobot_msgs/srv/Eulertoquaternion "{roll: 0.0, pitch: 0.0, yaw: 1.57}"

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🗂️ Launch Files

✅ MoveIt:

ros2 launch arduinobot_moveit demo.launch.py

✅ Controllers:

ros2 launch arduinobot_controller controller.launch.py

✅ Utilities:

ros2 run arduinobot_utils angle_conversions

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🛠️ Future Improvements

• Add forward/inverse kinematics implementation
• Add real hardware communication layer
• Add Gazebo / Isaac Sim simulation
• Add MoveIt Task Constructor

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🙌 Contributing

PRs and issues are welcome. If you want more examples or want to extend the robot, feel free to open a pull request!

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📜 License

MIT License. Use freely for learning and development.

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⭐ Support the Project

If you find this useful, please ⭐ star the repository!