Reach Alpha 5 Robot Arm

Introduction

This repository contains files to launch Reach Alpha 5 robot arm in RViz and Gazebo 11. Additionally, it contains C++ file to run simple motion in ROS 2 on the path computed by Moveit.

The repository uses robot setup proposed here. Additional useful references:

• Reach Alpha 5 manipulator
• ROS 2 Humble documentation
• Moveit 2 documentation

Build and Run

Lauch robot in RViz

git clone https://github.com/markusbuchholz/reach-alpha-5-manipulator.git
cd reach-alpha-5-manipulator
colcon build
source install/setup.bash
ros2 launch alpha_bringup planning_alpha5.launch.py

Run simple motion

In other terminal

source install/setup.bash
ros2 run alpha_moveit joint_moveit

You can run also joint_state_publisher-gui

First, install.

sudo apt install ros-humble-joint-state-publisher-gui

and run,

ros2 run joint_state_publisher_gui joint_state_publisher_gui

Lauch robot in Gazebo

ros2 launch alpha_gazebo gazebo_alpha.launch.py

In other terminal you can run simulation,

source install/setup.bash
ros2 run alpha_moveit joint_moveit