Add ROS2 package low_cost_robot_description for follower arm URDF#33
Open
tc-huang wants to merge 8 commits into
Open
Add ROS2 package low_cost_robot_description for follower arm URDF#33tc-huang wants to merge 8 commits into
low_cost_robot_description for follower arm URDF#33tc-huang wants to merge 8 commits into
Conversation
The low_cost_robot v1.f3d is created by following steps: 1. Load low_cost_robot/hardware/follower/step/arm.step into Fusion 360 software. 2. Define 6 revolute joints for 6 servo motors (the revolute angles are not set yet). The names of the 6 joints are: joint1, joint2, joint3, joint4, joint5, and joint_gripper. 3. Simplify the hierarchy structure of components, and rename the simplified results to: base_link, link1, link2, link3, link4, gripper_static, gripper_moving. The above steps reference the video 'ArmBot Fusion360 to URDF in ROS2 | Part 1' (https://www.youtube.com/watch?v=_ZFo6wPXjeQ). The purpose of creating low_cost_robot v1.f3d is to use fusion2urdf-ros2(https://github.com/dheena2k2/fusion2urdf-ros2/tree/master) to generate the URDF of the robotic arm (follower) later. low_cost_robot v1.f3d is also exported to .step format (low_cost_robot v1.step).
…ion2urdf-ros2` The process of using `fusion2urdf-ros2` to generate the ROS2 package `low_cost_robot_description` is referenced in the fusion2urdf-ros2 repository (https://github.com/dheena2k2/fusion2urdf-ros2/tree/master) and in this video tutorial (https://www.youtube.com/watch?v=_ZFo6wPXjeQ). For more information about `fusion2urdf-ros2`, please refer to the README.md file located at `low_cost_robot/ros2_ws/src/low_cost_robot_description/README.md`. The `low_cost_robot.urdf` file is generated by running the following command: xacro low_cost_robot.xacro > low_cost_robot.urdf
This README.md includes prerequisites and installation instructions.
Add build, log, and install directories in ros2_ws to .gitignore.
…to README.md Added two images demonstrating the usage of the low_cost_robot_description ROS 2 package in the README.md.
Closed
|
This is very cool, thank you for sharing. |
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Hello Alexander,
Thank you for sharing this great project. I had a wonderful time building my own robotic arm.
Description
This PR adds the
low_cost_robot_descriptionpackage, a ROS2 package containing the URDF for the follower arm.I created the
low_cost_robot v1.f3dfile based onarm.stepand then used fusion2urdf-ros2 to generate the files in thelow_cost_robot_descriptionpackage, referring to the video tutorial: ArmBot Fusion360 to URDF in ROS2 | Part 1.Motivation
The motivation for this PR stems from the frequent need for URDF files when developing ROS programs or using other simulation software. Additionally, issue #32 highlighted the demand for URDF files. I believe this PR will enable more users to explore and innovate with the robotic arm in diverse ways.
Changes
low_cost_robot_descriptionpackage to theros2_wsworkspace.ros2_ws/src/low_cost_robot_description/urdf/low_cost_robot.urdf.README.mdto include usage instructions and setup steps for thelow_cost_robot_descriptionpackage and theros2_wsworkspace.Screenshots
Usage Example 1: Follower Arm in RViz
Usage Example 2: Follower Arm in Gazebo