6DOF-Arm

Motion planning for a custom 6DOF arm. Built using ROS 2, ros2_control, and MoveIt 2.

Requirements

• Ubuntu 24.04
• ROS2 Jazzy Jalisco
• ROS2 Control (Jazzy Branch)
• Moveit2 (Jazzy Branch)

Setup

1. Clone this repo.
2. cd to the root of this repo.
3. Run rosdep to install all missing packages.

sudo rosdep init
rosdep update
rosdep install --from-paths src -y --ignore-src

4. At the root of this repo, run colcon build.

Launch

Instructions

1. Open a new terminal run source install/setup.bash at the root of your workspace.
2. Launch using ros2 launch arm_bringup arm_bringup.launch.py. This launches everything required to control the arm, along with the foxglove_bridge and rosbridge.