Project Marsworks: Scarab Mars Rover Arm

ROS2 Moveit!, ROS2 Control, and hardware firmware settings for Anatolian Rover Challenge (ARC) 2025.

Main components:

• Arm Simulation (Gazebo) [under development]
• Arm Teleoperation [under development]
• Arm control (Movit!2 + ros2control)

Prerequisites

• ROS2 (Humble or later recommended)
• Ubuntu 22.04 Jammy Jellyfish
• Gazebo Ignition
• Moveit!2 humble
• ROS2 control
• ROS2 Package for ODrive

Installation

1. Install dependencies:

Please follow this page for Moveit!2: https://moveit.picknik.ai/humble/doc/tutorials/getting_started/getting_started.html

3. Make a folder and clone the repository:

   mkdir Marsworks
   cd Marsworks
   mkdir src
   cd src
   git clone https://github.com/SheffMarsworks/Scarabarm.git
   git clone https://github.com/odriverobotics/ros_odrive.git
   cd ..

4. Build the workspace:

   cd Marsworks
   colcon build
   source install/setup.bash