AR4 ROS2 Stuff

This is a collection of ROS2 nodes & packages that I have created for different ways to control the AR4 robotic arm using ROS2.

It is mostly test code, so please excuse the lack of documentation.

Most nodes will have a README.md file with further information inside them.

A quick overview of packages (see src folder):

ar_face_detector

Attach a camera the end of the arm and have it follow you around to keep your face in the center of the frame.

Watch on YouTube Shorts:

ar_joy_control

Control the robotic arm manually with an Xbox One Controller

Watch on YouTube Shorts:

ar_whisper

Command the robotic arm to move using voice commands

Watch on YouTube Shorts:

esphome_leds

ROS2 Node for controlling the LED strips installed on my robotic arm.

Watch on YouTube Shorts:

Setup

Clone https://github.com/se1exin/ar4_ros_driver to lib folder.

mkdir lib
git clone [email protected]:se1exin/ar4_ros_driver.git lib/ar4_ros_driver

Run colcon build, but ignore the ar_hand_eye directory

colcon build --symlink-install --packages-ignore ar_hand_eye

Run Moveit Test

Pyhsical Hardware

ros2 launch ar_hardware_interface ar_hardware.launch.py calibrate:=True

ros2 launch ar_testing ar_moveit_test.launch.py use_sim_time:=False

Gazebo

ros2 launch ar_gazebo ar_gazebo.launch.py

ros2 launch ar_testing ar_moveit_test.launch.py use_sim_time:=True