![]() ![]() ![]() The pick and place actions are performed from the Arduino sketch directly. You can substitute a generic Arduino Uno or Nano with your Armio, MeArm or similar robot and your own wires to get the. The images below use a Robotio control board and the included wires and cables that are part of the Armuno Protio Falcon Robotic Arm kit. This will subscribe to /direction topic and execute motion by using Moveit move group First lets wire up two joysticks (total of four potentiometers) to our micro-controller. (Note: check the camera index and update the script if needed) This will detect blue color and publish the x,y coordinates to /direction topic $ rosrun rosserial_python serial_node.py _port:=/dev/ttyACM0 _baud:=115200 Select the Arduino port to be used on Ubuntu systemĬhange the permissions (it might be ttyACM) $ python color_thresholding.py Using OpenCV with the robot arm in ROS In Real Robot If it is not, update line 8 in color_thresholding.py Run color_thresholding.py to test the cameraīefore running, find the camera index normally it is video0 Pick and place by using OpenCV Preparation $ roslaunch moveit_pkg demo_gazebo.launch Run the following instruction to use gazebo $ sudo chmod +x ~/catkin_ws/src/arduino_robot_arm/robot_arm_pkg/scripts/joint_states_to_gazebo.py Controlling the robot arm by Moveit and kinematics $ rosrun robot_arm_pkg joint_states_to_gazebo.py $ roslaunch robot_arm_pkg check_motors_gazebo.launch Run the following instructions to use gazebo (Note: You may need to use ttyACM) Simulation $ rosrun rosserial_python serial_node.py _port:=/dev/ttyUSB0 _baud:=115200 To make the interface (NodeJS webserver) communicate with the robot arm (Arduino sketch), we had to think about a simple protocol. You can also connect with hardware by running: An Arduino robot arm controlled with a web interface with NodeJS and the Arduino serial port. $ roslaunch robot_arm_pkg check_motors.launch The project can be used to control robots with 3 or 4 DOF ( 'Degrees of Freedom'). The robot will run the program until the command 'ABORT' is used. Usage Controlling the robot arm by joint_state_publisher Program : Record arm positions in three dimensions (each record is a 'step') Run : Perform in sequence the positions recorded in the 'Program'. Make sure to change the port permission before uploading the Arduino code Install the arduino package and ros library The robot arm has 5 joints only 4 joints can be fully controlled via ROS and Rviz, the last joint (gripper) has a default motion executed from the Arduino code directly. $ sudo apt-get install ros-noetic-ros-controllers ros-noetic-ros-control $ sudo apt-get install ros-noetic-gazebo-ros-control joint-state-publisher $ sudo apt-get install ros-noetic-joint-state-publisher ros-noetic-joint-state-publisher-gui ![]()
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