Add ROS2 package low_cost_robot_description for follower arm URDF
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The low_cost_robot v1.f3d is created by following steps: 1. Load low_cost_robot/hardware/follower/step/arm.step into Fusion 360 software. 2. Define 6 revolute joints for 6 servo motors (the revolute angles are not set yet). The names of the 6 joints are: joint1, joint2, joint3, joint4, joint5, and joint_gripper. 3. Simplify the hierarchy structure of components, and rename the simplified results to: base_link, link1, link2, link3, link4, gripper_static, gripper_moving. The above steps reference the video 'ArmBot Fusion360 to URDF in ROS2 | Part 1' (https://www.youtube.com/watch?v=_ZFo6wPXjeQ). The purpose of creating low_cost_robot v1.f3d is to use fusion2urdf-ros2(https://github.com/dheena2k2/fusion2urdf-ros2/tree/master) to generate the URDF of the robotic arm (follower) later. low_cost_robot v1.f3d is also exported to .step format (low_cost_robot v1.step).
…ion2urdf-ros2` The process of using `fusion2urdf-ros2` to generate the ROS2 package `low_cost_robot_description` is referenced in the fusion2urdf-ros2 repository (https://github.com/dheena2k2/fusion2urdf-ros2/tree/master) and in this video tutorial (https://www.youtube.com/watch?v=_ZFo6wPXjeQ). For more information about `fusion2urdf-ros2`, please refer to the README.md file located at `low_cost_robot/ros2_ws/src/low_cost_robot_description/README.md`. The `low_cost_robot.urdf` file is generated by running the following command: xacro low_cost_robot.xacro > low_cost_robot.urdf
This README.md includes prerequisites and installation instructions.
Add build, log, and install directories in ros2_ws to .gitignore.
…to README.md Added two images demonstrating the usage of the low_cost_robot_description ROS 2 package in the README.md.
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This is very cool, thank you for sharing. |
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Hello Alexander,
Thank you for sharing this great project. I had a wonderful time building my own robotic arm.
Description
This PR adds the
low_cost_robot_descriptionpackage, a ROS2 package containing the URDF for the follower arm.I created the
low_cost_robot v1.f3dfile based onarm.stepand then used fusion2urdf-ros2 to generate the files in thelow_cost_robot_descriptionpackage, referring to the video tutorial: ArmBot Fusion360 to URDF in ROS2 | Part 1.Motivation
The motivation for this PR stems from the frequent need for URDF files when developing ROS programs or using other simulation software. Additionally, issue #32 highlighted the demand for URDF files. I believe this PR will enable more users to explore and innovate with the robotic arm in diverse ways.
Changes
low_cost_robot_descriptionpackage to theros2_wsworkspace.ros2_ws/src/low_cost_robot_description/urdf/low_cost_robot.urdf.README.mdto include usage instructions and setup steps for thelow_cost_robot_descriptionpackage and theros2_wsworkspace.Screenshots
Usage Example 1: Follower Arm in RViz
Usage Example 2: Follower Arm in Gazebo