/arm22_control

Primary LanguageC++

ROS Control package for rover 22' manipulator

Installation

NOTE

This package has build dependencies on ros_control_boilerplate (melodic-devel), serial and rover_utils pkg

  git clone -b melodic-devel https://github.com/PickNikRobotics/ros_control_boilerplate.git
  git clone https://github.com/wjwwood/serial
  git clone https://github.com/burkap/rover_utils

Usage with simulation

Start the hardware interface and ROS controllers:

roslaunch arm22_control control_sim.launch

Start the serial echo server:

rosrun arm22_control serial_echo.py

You can see the results in RViz.

Usage with real hardware

  • First, check the serial connection.
  • Then, return the arm to its 'home' position and reset the sensor positions.

After that, run the following command to start the hardware interface and ROS controllers:

roslaunch arm22_control control_hw.launch

You can see the results in RViz.