Fenrir Arm

A ROS-compatible Robotic Arm using Dynamixels Servo Motors.

We make available all the necessary 3D parts and libraries for communicating with the arm using a ROS interface.

Dependecies

Installation

Using git (or download the zip file) clone this repository into the "source code" folder of your ROS workspace (e.g. ~/catkin_ws/src ).

$ cd ~/catkin_ws/src
$ git clone https://github.com/verlab/Fenrir-Arm.git

Fixing package dependencies:

$ cd ~/catkin_ws
$ rosstack profile && rospack profile
$ rosdep install --from-paths src/Fenrir-Arm --ignore-src -r -y

Compile your ROS workspace directory (e.g. ~/catkin-ws ):

$ cd ~/catkin_ws
$ catkin_make # or catkin build
$ source devel/setup.bash # Set the appropriate bash extension

Usage

NEW! Tracjectory controller using dynamixel-workbench driver with Moveit!

How to control fenrir (real-robot) using trajectory control from moveit!

$ roslaunch fenrir_controller dynamixel_controller.launch # Launch driver and interface controllers
$ roslaunch fenrir_gazebo fenrir_moveit_real.launch # Launch Moveit and RViz

How to control fenrir (simulated on Gazebo) using trajectory control from moveit!

$ roslaunch fenrir_gazebo fenrir_gazebo_bringup.launch # Launch Moveit and RViz

OLDER! Driver only (Physical Robot)

After installing the library in your ROS workspace, run:

$ roslaunch fenrir driver.launch

Simulator only (Visualization on RVIZ)

$ roslaunch fenrir simulator.launch

Driver with Simulator

This will initialize both the driver for the servos as well as the state publisher and RVIZ for visualization

$ roslaunch fenrir initialize.launch

Testing

Run the example python code below

rosrun fenrir publish_joints.py

Or with an inline message publish

rostopic pub -r 1 /fenrir/joint_commands/ sensor_msgs/JointState  '{name: [Base, Shoulder, Elbow, Wrist, Gripper], position: [0.5, 0.5, 0.5, 0.5, 0.0], velocity: [], effort: []}'

3D Part Files and Construction

The full 3D assembly of the arm can be downloaded here.

Construction of the arm requires purchase of the components listed at mechanical components.