- Registre in ROS Development Studio.
- Create a New Rosject.
- choose melodic in Ros Distro .
- choose any name.
- If you want it private click on Make it private.
- Click on create, now you can test robot arm package.
A catkin workspace is a directory (folder) in which you can create or modify existing catkin packages. The catkin structure simplifies the build and installation process for your ROS packages.
Type the following commands to clone the repository inside the src folder which is in catkin_ws and add a package of arduino_robot_arm.
$ cd ~/catkin_ws/src
$ sudo apt install git
$ git clone https://github.com/smart-methods/arduino_robot_arm
Then install all the dependencies.
$ cd ~/catkin_ws
$ rosdep install --from-paths src --ignore-src -r -y
$ sudo apt-get install ros-melodic-moveit
$ sudo apt-get install ros-melodic-joint-state-publisher ros-melodic-joint-state-publisher-gui
$ sudo apt-get install ros-melodic-gazebo-ros-control joint-state-publisher
$ sudo apt-get install ros-melodic-ros-controllers ros-melodic-ros-control
NOTE: You might faced an error in the two last commands, don't worry there is a solution.
You need to update
$ sudo apt update
Then compile the package
$ catkin_make
Now the pakage is installed .
- When run the following command RVIZ will open up and show the robot arm.
$ roslaunch robot_arm_pkg check_motors.launch
IMG_1585.mov
- After run the following command Gazebo will open up and show the robot arm .
$ roslaunch robot_arm_pkg check_motors_gazebo.launch
IMG_1583.mov
As normal when running RViz and gazebo at the same time, change motors angles on RViz doesn't change on gazebo, so I need to connect them.
Before running the command -to connect them- ,you need to give it execution permissions
$ cd catkin_ws/src/arduino_robot_arm/robot_arm_pkg/scripts
$ sudo chmod +x joint_states_to_gazebo.py
Then run it
$ rosrun robot_arm_pkg joint_states_to_gazebo.py
Now you can control the arm by Rviz and Gazebo at the same time!