A test simulation of a robotic arm to explore basic features of ROS
This repository contains the simulation of a robotic arm. This was done in order to gain experience with some nice features of ROS: robot description using urdf and xacro, simulation in Gazebo, joint-space control of the arm,and finally inverse kinematics and motion planning with MoveIt!.
Install dependencies:
rosdep install --from-paths src --ignore-src -r -y
Follow the instructions to set up a workspace and a package as in the PDF documentation.
cd ~/catkin_ws/src/
Clone this repository inside src:
git clone https://github.com/kaushikbalasundar/robotic_arm_simulation
Build catkin workspace in the catkin_ws directory:
cd ..
catkin_make
Init the environment:
source devel/setup.sh
Launch the gazebo simulation with position controllers in the launch folder:
roslaunch position_controllers.launch
Launch rqt_gui
rosrun rqt_gui rqt_gui
Launch the MoveIt! move group to control the end effector:
roslaunch moveit_ardop2_1 demo.launch
You can now use the MoveIt! plugin in Rviz to control the arm.
Images:
Videos
https://youtu.be/DIlwMaeZNaM - Gazebo Simulation https://youtu.be/jrXxrtXL1Yg - MoveIt! Simulation
