/ROS-Workshop-2.1

Official Repository for ROS-based Manipulator, implemented with ESP32

Primary LanguagePythonMIT LicenseMIT

ROS-Workshop-2.2

Official Repository for ROS-based Manipulator, implemented with ESP32

Prerequisites: ROS Kinetic, initialiased with a catkin_ws workspace; ESP-IDF v4.1

Run the following command for a quick install:

./install_codes.sh

Steps

  • Configure the code ros_control/
cd esp32_codes/ros_control/
idf.py menuconfig

  • Inside component config > rosserial, Set Wifi ssid and password, Set the IP address (can be found by ifconfig command)

  • Flash the code ros_control/

idf.py flash

  • Start the ROS Core service i.e. the ROS Master by the roscore command.

  • Start the ROS Publisher by executing the relevant python script: (e.g. angle -> coordinates)

rosrun sra20 publisher_forward_kinematics.py
  • Start the ROS Subscriber by executing
rosrun rosserial_python serial_node.py tcp
  • Enter the angles on the publisher side and voila! See your manipulator moving!

arm video

Resources

Follow this link for all the reference material related to the workshop.