Braccio-Arduino-ROS-RViz

Project on the integration of the Arduino robotic arm Braccio into ROS and Rviz.

This project enables to control the joint angles of Braccio from a GUI.

Want to say thanks

This code is free and can be used for free, open source and commercial applications. If you want to say thanks mainly hit the ⭐ button, that's all.

Prerequisites:

ROS (Kinetic Kame)
- RViz
- ROSserial
Ubuntu (16.04)
Arduino (Uno or higher)
Braccio Robot

Hardware Architecture

Setup

Install ROS on your PC.
Clone this repository into your Catkin Workspace.
Run

	catkin_make

Install ROS for your Arduino, see here for Instruction
Copy the BraccioLibRos Library into your Arduino Library Folder
Flash your Arduino with the code included in the file braccio_ros.ino
Make sure your Arduino is connected with the PC via a USB cable

Run

Terminal 1:

	roscore

Launches Roscore, that handles communictation between all ROS nodes.

Terminal 2:

	source devel/setup.bash
	cd src/braccio_arduino_ros_rviz
	roslaunch braccio_arduino_ros_rviz urdf.launch model:=urdf/braccio_arm.urdf

Starts the GUI and publishes angles in Radian.

Terminal 3:

	source devel/setup.bash
	cd src/braccio_arduino_ros_rviz
	rosrun braccio_arduino_ros_rviz parse_and_publish

Converts the joint angles to degrees and reduces the message size

Terminal 4:

    rosrun rosserial_python serial_node.py /dev/ttyACM0

Starts the communication between Arduino and Pc. Change "/dev/ttyACM0" to the port the Port of your Arduino. You find this Information in the Arduino IDE, ArduinoIDE>Tools>Port.

Terminal 5 (optional/Debugging):

	rostopic echo joint_array

view what is published to the Arduino

	rostopic echo joint_states

view what is published by the joint_state_publisher (GUI)

	rqt_graph

overview about the topics and nodes

Should look similar like this:

License

This project is licensed under BSD 3-Clause License License - see the LICENSE.md file for details

This project contains code from grassjelly, see third Party License file LicenseOfThirdPartys

Aki92-Xavier/braccio_arduino_ros_rviz