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|
ar3_ros repositoryar3 ar3_bringup ar3_controllers ar3_description ar3_hardware ar3_hardware_driver ar3_msgs |
Repository Summary
| Description | ROS packages for AR3 |
| Checkout URI | https://github.com/rif-robotics/ar3_ros.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-01-27 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| ar3 | 0.0.0 |
| ar3_bringup | 0.0.0 |
| ar3_controllers | 0.0.0 |
| ar3_description | 0.0.0 |
| ar3_hardware | 0.0.1 |
| ar3_hardware_driver | 0.0.1 |
| ar3_msgs | 0.0.0 |
README
AR3 ROS2 Packages
Contains the ROS2 packages for the AR3 robot arm
Build
$ mkdir -p ~/ros2/ar3_ws/src
$ cd ~/ros2/ar3_ws/src
$ git clone https://github.com/RIF-Robotics/ar3_ros.git
$ cd ..
$ source /opt/ros/foxy/setup.bash
$ colcon build --symlink-install
Visualize AR3 in rviz
$ cd ~/ros2/ar3_ws
$ source ./install/setup.bash
$ ros2 launch ar3_bringup rviz.launch.py
Simple simulation of AR3
The use_fake_hardware flag uses a simple software loop back, which won’t
communicate with the real AR3 robot arm.
$ ros2 launch ar3_bringup ar3_base.launch.py use_fake_hardware:=True
Connect ROS2 to Physical AR3
$ ros2 launch ar3_bringup ar3_base.launch.py
MoveIt2 Control
See the ar3_moveit2_config package for how to use MoveIt2 to control the AR3.
CONTRIBUTING
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