RoArm-M3 ROS2 Workspace Description

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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2. ROS2 Workspace Description

This tutorial currently provides instructions for the ROS2 Humble version of the Ubuntu 22.04 image. According to the steps in the first part of the installation tutorial, your virtual machine is now running. Open the Home folder in the virtual machine computer, and you can see a folder called roarmw_s, which is the workspace of the robotic arm ROS2. Next, you can see two function packages in the roarm_ws/src directory.

• roarm_ws_em0 —— Main function package
  • roarm_driver: Communication node that drives real robotic arms
  • roarm_description: Robotic arm model URDF
  • roarm_moveit: Kinematic-related configuration
  • roarm_moveit_ikfast_plugins: Kinematic solver
  • roarm_moveit_cmd: Command control related services
  • roarm_moveit_mtc_demo: MTC demonstration

Open source link for kinematic solution of this project: roarm_ws. We also introduce the implementation steps of the tutorial content in the README.md file in the open source address, and will also be updated to the Github project if there are feature updates in the future.