RoArm-M3 How to Install ROS2

RoArm-M3 RoArm-M3-S Robotic Arm TTL Serial Bus Servo Control Interface / I2C / UART

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Onboard Interfaces UART I2C TTL Serial Bus Servo Control Interface

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As of the completion of this tutorial, Moveit2 has not yet finished updating Jazzy for the latest LTS version of ROS2, so for now we are still providing tutorials for ROS2 Humble, and we will create tutorials for ROS2 Jazzy as soon as Moveit2 is updated. This tutorial is for using a virtual machine to run ROS2 on a Windows PC, and refer to the following tutorials to control the robotic arm.

1. Install Environment

1.1 Virtual Machine Image and Software Download

1.1.1 Download Ubuntu Image with Environment Configured

Using the Ubuntu 22.04 image that we have configured the ros2 environment, you don't need to install and configure the environment by yourself, and you can directly control it by connecting the robotic arm according to the subsequent ros2 tutorials.

• Download link: RoArm-M3-S_ROS2 Humble
• Image password: ws

Download and decompress the image, all files are image files. The disk file system of some virtual machines does not support separate files above 4G, so the configured Ubuntu image is divided into multiple files.

1.1.2 Install Oracle VM VirtualBox Virtual Machine

Download and install Oracle VM VirtualBox, which is a free virtual machine software that allows you to run a virtual operating system on your own computer. We run the virtual machine on a Windows system computer to install the Ubuntu operating system, and then install and configure LeRobot on the Ubuntu operating system to control the robotic arm.

Click Oracle VM VirtualBox official download link, the installation process is very simple, just keep clicking Next. If it is already installed, skip this step.

Load Image into Virtual Machine Software

1. On the left toolbar, click New.
   



2. Set the name, set the type to Linux, and set the version to Ubuntu (64-bit), click Next.
   



3. The memory size and number of processors can be set by yourself. Here are the default settings, then click Next.
   



4. Select Do not add a virtual hard disk click Next to display the configuration of the new virtual computer, click Finish and a warning will pop up, then click Continue.
   




5. Select the virtual machine you just created and select Settings.
   



6. Select Storage and click the + sign on the far right of the controller to add a virtual hard disk.
   



7. Select Register, add the M3_ROS-disk1.vmdk image file decompressed earlier and click Select in the lower right corner, and confirm to save. Double-click the virtual computer you just created on the left to run it.
   

After the virtual machine computer runs successfully, you can understand the composition of RoArm-M3-S robotic arm ROS2 workspace according to the content of Chapter 2. Then, you can implement simple basic control of the robotic arm in ROS2 according to the content of Chapter 3.